Add hip pitch offset to correct pelvis hardware revision

Theory: newer G1 pelvis has shifted hip pitch zero point, causing
backward lean. IMU offset masked the symptom but caused tippy-toe
stance. Hip pitch offset applied post-NN to motor commands (NN is
blind to adjustment). Default +3 deg more flexion on both hips.

- IMU offset reset to 0 (was -2)
- Knee offset reset to 0 (was 5)
- Hip pitch offset: +3 deg default, keys 1/2 for +/- 1 deg
- Positive = more flexion = legs forward = counteracts backward lean

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/include/input_interface/gamepad_manager.hpp

@@ -47,7 +47,7 @@
 #include "../localmotion_kplanner.hpp"  // For LocomotionMode enum
 
 /// Runtime-adjustable IMU pitch offset (degrees). Keys 9/0 to adjust via tmux.
-inline std::atomic<double> g_imu_pitch_offset_deg{-2.0};
+inline std::atomic<double> g_imu_pitch_offset_deg{0.0};
 
 /// Runtime-adjustable waist pitch offset (degrees). Keys 7/8 to adjust via tmux.
 /// SONIC is trained for 29-DOF free waist — all 3 waist DOFs are actively
@@ -60,7 +60,12 @@ inline std::atomic<double> g_standing_height_m{0.72};
 
 /// Runtime-adjustable knee offset (degrees). Keys 3/4 to adjust via tmux.
 /// Positive = more bent knees = lower stance. Applied to both knees equally.
-inline std::atomic<double> g_knee_offset_deg{5.0};
+inline std::atomic<double> g_knee_offset_deg{0.0};
+
+/// Runtime-adjustable hip pitch offset (degrees). Keys 1/2 to adjust via tmux.
+/// Positive = more hip flexion = legs forward = counteracts backward lean.
+/// Applied post-NN to motor commands only (NN is blind to this adjustment).
+inline std::atomic<double> g_hip_pitch_offset_deg{3.0};
 
 #if HAS_ROS2
 #include "ros2_input_handler.hpp"
@@ -193,6 +198,20 @@ class GamepadManager : public InputInterface {
             is_manager_key = true;
             break;
           }
+          case '1': {
+            double val = g_hip_pitch_offset_deg.load() - 1.0;
+            g_hip_pitch_offset_deg.store(val);
+            std::cout << "[HIP] Pitch offset: " << val << " deg (+ = more flexion)" << std::endl;
+            is_manager_key = true;
+            break;
+          }
+          case '2': {
+            double val = g_hip_pitch_offset_deg.load() + 1.0;
+            g_hip_pitch_offset_deg.store(val);
+            std::cout << "[HIP] Pitch offset: " << val << " deg (+ = more flexion)" << std::endl;
+            is_manager_key = true;
+            break;
+          }
         }
 
         if (!is_manager_key && current_) {

gear_sonic_deploy/src/g1/g1_deploy_onnx_ref/src/g1_deploy_onnx_ref.cpp

@@ -2841,12 +2841,20 @@ class G1Deploy {
       if (waist_offset_rad != 0.0) {
         motor_command_tmp.q_target.at(14) += static_cast<float>(waist_offset_rad);
       }
-      // Optional knee offset (keys 3/4). Default +5°. Positive = more bent.
+      // Optional knee offset (keys 3/4). Positive = more bent.
       double knee_offset_rad = g_knee_offset_deg.load() * M_PI / 180.0;
       if (knee_offset_rad != 0.0) {
         motor_command_tmp.q_target.at(3) += static_cast<float>(knee_offset_rad);   // LeftKnee
         motor_command_tmp.q_target.at(9) += static_cast<float>(knee_offset_rad);   // RightKnee
       }
+      // Hip pitch offset (keys 1/2). Default +3°. Positive = more flexion.
+      // Corrects for pelvis hardware revision where hip zero is shifted.
+      // NN is blind to this — applied post-policy to motor commands only.
+      double hip_offset_rad = g_hip_pitch_offset_deg.load() * M_PI / 180.0;
+      if (hip_offset_rad != 0.0) {
+        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)
+      }
 
       // Debug: log raw NN actions + measured positions for waist joints every 1s
       static int waist_dbg_ctr = 0;