Fix parameter path

Author: rmburg

crates/control/src/motion/step_planner.rs

@@ -38,9 +38,10 @@ pub struct CycleContext {
     step_size_delta_fast: Parameter<Step, "step_planner.step_size_delta_fast">,
     max_step_size_backwards: Parameter<f32, "step_planner.max_step_size_backwards">,
     max_inside_turn: Parameter<f32, "step_planner.max_inside_turn">,
-    rotation_exponent: Parameter<f32, "step_planner.optimization_parameters.rotation_exponent">,
+    rotation_exponent:
+        Parameter<f32, "step_planner.optimization_parameters.walk_volume_rotation_exponent">,
     translation_exponent:
-        Parameter<f32, "step_planner.optimization_parameters.translation_exponent">,
+        Parameter<f32, "step_planner.optimization_parameters.walk_volume_translation_exponent">,
     initial_side_bonus: Parameter<f32, "step_planner.initial_side_bonus">,
     request_scale: Parameter<Step, "step_planner.request_scale">,
     optimization_parameters:

etc/parameters/default.json

@@ -405,8 +405,8 @@
       "walk_orientation_penalty": 1.0,
       "alignment_start_distance": 0.1,
       "alignment_start_smoothness": 0.05,
-      "translation_exponent": 1.5,
-      "rotation_exponent": 2.0
+      "walk_volume_translation_exponent": 1.5,
+      "walk_volume_rotation_exponent": 2.0
     }
   },
   "zero_moment_point": {