diff --git a/bitbots_motion/bitbots_quintic_walk/config/robots/donna.yaml b/bitbots_motion/bitbots_quintic_walk/config/robots/donna.yaml
index 2941783d7..139a4431c 100644
--- a/bitbots_motion/bitbots_quintic_walk/config/robots/donna.yaml
+++ b/bitbots_motion/bitbots_quintic_walk/config/robots/donna.yaml
@@ -3,4 +3,4 @@
 walking:
   ros__parameters:
     engine:
-      trunk_x_offset: -0.02
+      trunk_x_offset: 0.01