diff --git a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp
index 78f0641..8fb00a7 100644
--- a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp
+++ b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp
@@ -67,6 +67,10 @@ inline std::atomic<double> g_knee_offset_deg{0.0};
 /// Applied post-NN to motor commands only (NN is blind to this adjustment).
 inline std::atomic<double> g_hip_pitch_offset_deg{3.0};
 
+/// Runtime-adjustable ankle pitch offset (degrees). Keys q/w to adjust via tmux.
+/// Positive = more dorsiflexion correction (toes up). Applied to both ankles equally.
+inline std::atomic<double> g_ankle_pitch_offset_deg{0.0};
+
 /// Neutral hold mode: bypass NN, command default_angles directly. Key 'n' to toggle.
 /// Used for visual joint inspection (diagnosing hardware offsets).
 inline std::atomic<bool> g_neutral_hold_mode{false};
@@ -202,6 +206,20 @@ class GamepadManager : public InputInterface {
             is_manager_key = true;
             break;
           }
+          case 'q': {
+            double val = g_ankle_pitch_offset_deg.load() - 1.0;
+            g_ankle_pitch_offset_deg.store(val);
+            std::cout << "[ANKLE] Pitch offset: " << val << " deg (+ = more dorsiflexion)" << std::endl;
+            is_manager_key = true;
+            break;
+          }
+          case 'w': {
+            double val = g_ankle_pitch_offset_deg.load() + 1.0;
+            g_ankle_pitch_offset_deg.store(val);
+            std::cout << "[ANKLE] Pitch offset: " << val << " deg (+ = more dorsiflexion)" << std::endl;
+            is_manager_key = true;
+            break;
+          }
           case 'n':
           case 'N': {
             bool cur = g_neutral_hold_mode.load();
diff --git a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp
index 37027ce..c877daa 100644
--- a/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp
+++ b/gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp
@@ -2867,6 +2867,13 @@ class G1Deploy {
         motor_command_tmp.q_target.at(0) -= static_cast<float>(hip_offset_rad);    // LeftHipPitch  (more negative = more flexion)
         motor_command_tmp.q_target.at(6) -= static_cast<float>(hip_offset_rad);    // RightHipPitch (more negative = more flexion)
       }
+      // Ankle pitch offset (keys q/w). Positive = more dorsiflexion (toes up).
+      // Corrects for ankle zero offset on new pelvis hardware revision.
+      double ankle_offset_rad = g_ankle_pitch_offset_deg.load() * M_PI / 180.0;
+      if (ankle_offset_rad != 0.0) {
+        motor_command_tmp.q_target.at(4) += static_cast<float>(ankle_offset_rad);   // LeftAnklePitch
+        motor_command_tmp.q_target.at(10) += static_cast<float>(ankle_offset_rad);  // RightAnklePitch
+      }
 
       // Debug: log raw NN actions + measured positions for waist joints every 1s
       static int waist_dbg_ctr = 0;