diff --git a/mujoco_ros2_control_plugins/README.md b/mujoco_ros2_control_plugins/README.md
index 9e2b1879..fa0d9d4f 100644
--- a/mujoco_ros2_control_plugins/README.md
+++ b/mujoco_ros2_control_plugins/README.md
@@ -55,8 +55,8 @@ attachment position.
 | Key | Action |
 |---|---|
 | `G` | Toggle gantry on / off. Re-enabling re-anchors above the current attachment position |
-| `[` | Shorten rope by 0.5 cm |
-| `]` | Lengthen rope by 0.5 cm |
+| `[` | Shorten rope by 0.5 cm *(ignored with a warning when gantry is disabled)* |
+| `]` | Lengthen rope by 0.5 cm *(ignored with a warning when gantry is disabled)* |
 
 #### ROS 2 interface
 
diff --git a/mujoco_ros2_control_plugins/src/virtual_gantry_plugin.cpp b/mujoco_ros2_control_plugins/src/virtual_gantry_plugin.cpp
index ac5c0e31..5196b5a7 100644
--- a/mujoco_ros2_control_plugins/src/virtual_gantry_plugin.cpp
+++ b/mujoco_ros2_control_plugins/src/virtual_gantry_plugin.cpp
@@ -119,8 +119,15 @@ void VirtualGantryPlugin::update(const mjModel* /*model*/, mjData* data)
   const int scroll_ticks = rope_length_ticks_.exchange(0, std::memory_order_acquire);
   if (scroll_ticks != 0)
   {
-    rope_length_ = std::max(0.1, rope_length_ + scroll_ticks * 0.005);
-    RCLCPP_INFO(node_->get_logger(), "VirtualGantryPlugin: rope_length=%.3f m", rope_length_);
+    if (enabled_)
+    {
+      rope_length_ = std::max(0.1, rope_length_ + scroll_ticks * 0.005);
+      RCLCPP_INFO(node_->get_logger(), "VirtualGantryPlugin: rope_length=%.3f m", rope_length_);
+    }
+    else
+    {
+      RCLCPP_WARN(node_->get_logger(), "VirtualGantryPlugin: gantry disabled — rope length unchanged");
+    }
   }
 
   // --- Compute attachment point in world frame ------------------------------