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 8fb00a7..be7744f 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
@@ -55,8 +55,8 @@ inline std::atomic<double> g_imu_pitch_offset_deg{0.0};
 inline std::atomic<double> g_waist_pitch_offset_deg{0.0};
 
 /// Runtime-adjustable standing height (meters). Keys 5/6 to adjust via tmux.
-/// Lowered from planner default 0.789m to add knee bend.
-inline std::atomic<double> g_standing_height_m{0.72};
+/// Default -1.0 = let planner use its trained default (0.789m).
+inline std::atomic<double> g_standing_height_m{-1.0};
 
 /// Runtime-adjustable knee offset (degrees). Keys 3/4 to adjust via tmux.
 /// Positive = more bent knees = lower stance. Applied to both knees equally.
@@ -65,7 +65,7 @@ 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};
+inline std::atomic<double> g_hip_pitch_offset_deg{0.0};
 
 /// Runtime-adjustable ankle pitch offset (degrees). Keys q/w to adjust via tmux.
 /// Positive = more dorsiflexion correction (toes up). Applied to both ankles equally.