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 bd6a5c1..1adb0c1 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
@@ -2878,6 +2878,23 @@ class G1Deploy {
         motor_command_tmp.q_target.at(10) += static_cast<float>(ankle_offset_rad);  // RightAnklePitch
       }
 
+      // Debug: log ankle command vs measured every 1s
+      static int ankle_dbg_ctr = 0;
+      if (++ankle_dbg_ctr >= 50) {
+        ankle_dbg_ctr = 0;
+        auto ls2 = low_state_buffer_.GetDataWithTime().data;
+        if (ls2) {
+          printf("[ANKLE_DBG] cmd_L=%.1f cmd_R=%.1f  meas_L=%.1f meas_R=%.1f  "
+                 "kp=%.1f  offset=%.1f deg\n",
+                 motor_command_tmp.q_target.at(4) * 180.0/M_PI,
+                 motor_command_tmp.q_target.at(10) * 180.0/M_PI,
+                 ls2->motor_state()[4].q() * 180.0/M_PI,
+                 ls2->motor_state()[10].q() * 180.0/M_PI,
+                 motor_command_tmp.kp.at(4),
+                 g_ankle_pitch_offset_deg.load());
+        }
+      }
+
       // Debug: log raw NN actions + measured positions for waist joints every 1s
       static int waist_dbg_ctr = 0;
       if (++waist_dbg_ctr >= 50) {