diff --git a/src/bitbots_motion/bitbots_quintic_walk/config/robots/jack.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/robots/jack.yaml
index cda67ccde..139a4431c 100644
--- a/src/bitbots_motion/bitbots_quintic_walk/config/robots/jack.yaml
+++ b/src/bitbots_motion/bitbots_quintic_walk/config/robots/jack.yaml
@@ -3,4 +3,4 @@
 walking:
   ros__parameters:
     engine:
-      trunk_x_offset: 0.0
+      trunk_x_offset: 0.01