From 3d51a45a30168aa46697d3aab2a4bcf4dd6ef098 Mon Sep 17 00:00:00 2001 From: Yarden Date: Fri, 4 Oct 2024 14:16:29 +0200 Subject: [PATCH] Names change --- .pre-commit-config.yaml | 2 +- {safe_opax => actsafe}/__init__.py | 0 .../benchmark_suites/__init__.py | 12 ++++---- .../benchmark_suites/dm_control/__init__.py | 6 ++-- .../benchmark_suites/humanoid_bench/README.md | 0 .../humanoid_bench/__init__.py | 6 ++-- .../humanoid_bench/assets/common/floor.xml | 0 .../humanoid_bench/assets/common/visual.xml | 0 .../assets/digit/base-0_collision_0.xml | 0 .../assets/digit/base-0_collision_assets.xml | 0 .../assets/digit/base-1_collision_0.xml | 0 .../assets/digit/base-1_collision_assets.xml | 0 .../assets/digit/base-2_collision_0.xml | 0 .../assets/digit/base-2_collision_assets.xml | 0 .../assets/digit/base-3_collision_0.xml | 0 .../assets/digit/base-3_collision_assets.xml | 0 .../assets/digit/base-4_collision_0.xml | 0 .../assets/digit/base-4_collision_assets.xml | 0 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{safe_opax => actsafe}/lambda_dalal/cost_model.py (100%) rename {safe_opax => actsafe}/lambda_dalal/la_mbda_dalal.py (91%) rename {safe_opax => actsafe}/opax.py (91%) rename {safe_opax => actsafe}/rl/__init__.py (100%) rename {safe_opax => actsafe}/rl/acting.py (92%) rename {safe_opax => actsafe}/rl/episodic_async_env.py (99%) rename {safe_opax => actsafe}/rl/epoch_summary.py (97%) rename {safe_opax => actsafe}/rl/logging.py (98%) rename {safe_opax => actsafe}/rl/metrics.py (98%) rename {safe_opax => actsafe}/rl/trainer.py (95%) rename {safe_opax => actsafe}/rl/trajectory.py (100%) rename {safe_opax => actsafe}/rl/types.py (93%) rename {safe_opax => actsafe}/rl/utils.py (98%) rename {safe_opax => actsafe}/rl/wrappers.py (100%) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 2dce8495..636acea9 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -27,4 +27,4 @@ repos: additional_dependencies: - "numpy" - "types-tabulate" - exclude: "safe_opax/benchmark_suites/humanoid_bench/.*" \ No newline at end of file + exclude: "actsafe/benchmark_suites/humanoid_bench/.*" \ No newline at end of file diff --git a/safe_opax/__init__.py b/actsafe/__init__.py similarity index 100% rename from safe_opax/__init__.py rename to actsafe/__init__.py diff --git a/safe_opax/benchmark_suites/__init__.py b/actsafe/benchmark_suites/__init__.py similarity index 58% rename from safe_opax/benchmark_suites/__init__.py rename to actsafe/benchmark_suites/__init__.py index aebfb0e8..c3395487 100644 --- a/safe_opax/benchmark_suites/__init__.py +++ b/actsafe/benchmark_suites/__init__.py @@ -1,23 +1,23 @@ from omegaconf import DictConfig -from safe_opax.benchmark_suites.dm_control import ENVIRONMENTS as dm_control_envs -from safe_opax.benchmark_suites.utils import get_domain_and_task -from safe_opax.rl.types import EnvironmentFactory +from actsafe.benchmark_suites.dm_control import ENVIRONMENTS as dm_control_envs +from actsafe.benchmark_suites.utils import get_domain_and_task +from actsafe.rl.types import EnvironmentFactory def make(cfg: DictConfig) -> EnvironmentFactory: assert len(cfg.environment.keys()) == 1 domain_name, task_config = get_domain_and_task(cfg) if "task" in task_config and (domain_name, task_config.task) in dm_control_envs: - from safe_opax.benchmark_suites.dm_control import make + from actsafe.benchmark_suites.dm_control import make make_env = make(cfg) elif domain_name == "safe_adaptation_gym": - from safe_opax.benchmark_suites.safe_adaptation_gym import make + from actsafe.benchmark_suites.safe_adaptation_gym import make make_env = make(cfg) elif domain_name == "humanoid_bench": - from safe_opax.benchmark_suites.humanoid_bench import make + from actsafe.benchmark_suites.humanoid_bench import make make_env = make(cfg) else: diff --git a/safe_opax/benchmark_suites/dm_control/__init__.py b/actsafe/benchmark_suites/dm_control/__init__.py similarity index 98% rename from safe_opax/benchmark_suites/dm_control/__init__.py rename to actsafe/benchmark_suites/dm_control/__init__.py index 98d13376..0870fa52 100644 --- a/safe_opax/benchmark_suites/dm_control/__init__.py +++ b/actsafe/benchmark_suites/dm_control/__init__.py @@ -5,10 +5,10 @@ from dm_control.utils.rewards import tolerance import numpy as np from omegaconf import DictConfig -from safe_opax.benchmark_suites.utils import get_domain_and_task +from actsafe.benchmark_suites.utils import get_domain_and_task -from safe_opax.rl.types import EnvironmentFactory -from safe_opax.rl.wrappers import ImageObservation +from actsafe.rl.types import EnvironmentFactory +from actsafe.rl.wrappers import ImageObservation # From: diff --git a/safe_opax/benchmark_suites/humanoid_bench/README.md b/actsafe/benchmark_suites/humanoid_bench/README.md similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/README.md rename to actsafe/benchmark_suites/humanoid_bench/README.md diff --git a/safe_opax/benchmark_suites/humanoid_bench/__init__.py b/actsafe/benchmark_suites/humanoid_bench/__init__.py similarity index 94% rename from safe_opax/benchmark_suites/humanoid_bench/__init__.py rename to actsafe/benchmark_suites/humanoid_bench/__init__.py index 42c54258..b9bbd220 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/__init__.py +++ b/actsafe/benchmark_suites/humanoid_bench/__init__.py @@ -4,9 +4,9 @@ from omegaconf import DictConfig from gymnasium.spaces import Box -from safe_opax.benchmark_suites.utils import get_domain_and_task -from safe_opax.rl.types import EnvironmentFactory -from safe_opax.rl.wrappers import ImageObservation +from actsafe.benchmark_suites.utils import get_domain_and_task +from actsafe.rl.types import EnvironmentFactory +from actsafe.rl.wrappers import ImageObservation class ConstraintWrapper(RewardWrapper): def __init__(self, env): diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/common/floor.xml b/actsafe/benchmark_suites/humanoid_bench/assets/common/floor.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/common/floor.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/common/floor.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/common/visual.xml b/actsafe/benchmark_suites/humanoid_bench/assets/common/visual.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/common/visual.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/common/visual.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/base-0_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/digit/base-0_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/base-0_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/base-0_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/base-0_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/digit/base-0_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/base-0_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/base-0_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/base-1_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/digit/base-1_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/base-1_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/base-1_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/base-1_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/digit/base-1_collision_assets.xml similarity index 100% rename from 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b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_30.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_30.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_30.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_31.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_31.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_31.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_31.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_32.obj 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b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_34.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_34.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_34.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_35.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_35.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_35.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_35.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_36.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_36.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_36.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_36.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_37.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_37.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_37.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_37.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-elbow-0_split/left-elbow-0_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_18.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_18.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_18.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_18.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_19.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_19.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_19.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_19.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_20.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_20.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_20.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_20.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_21.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_21.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_21.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_21.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_22.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_22.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_22.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_22.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_23.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_23.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_23.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_23.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_24.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_24.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_24.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_24.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_25.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_25.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_25.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_25.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_26.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_26.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_26.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_26.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_27.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_27.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_27.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_27.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_28.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_28.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_28.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_28.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_29.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_29.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_29.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_29.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_30.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_30.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_30.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_30.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_31.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_31.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_31.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_31.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_32.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_32.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_32.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_32.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-pitch-0_split/left-hip-pitch-0_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-roll-0_split/left-hip-roll-0_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-yaw-0_split/left-hip-yaw-0_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-yaw-0_split/left-hip-yaw-0_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-yaw-0_split/left-hip-yaw-0_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-yaw-0_split/left-hip-yaw-0_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-hip-yaw-0_split/left-hip-yaw-0_part_1.obj 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a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_112.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_112.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_112.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_112.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_113.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_113.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_113.obj rename to 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a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_144.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_144.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_144.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_144.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_145.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_145.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_145.obj rename to 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actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_27.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_28.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_28.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_28.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_28.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_29.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_29.obj similarity index 100% rename from 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b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_30.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_30.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_30.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_31.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_31.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_31.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_31.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_32.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_32.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_32.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_32.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_33.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_33.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_33.obj rename to 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b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_62.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_62.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_62.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_63.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_63.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_63.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_63.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_64.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_64.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_64.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_64.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_65.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_65.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_65.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_65.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_66.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_66.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_66.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_66.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_67.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_67.obj similarity index 100% rename from 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b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_69.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_69.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_69.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_70.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_70.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_70.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_70.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_71.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_71.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_71.obj rename to 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a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_77.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_77.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_77.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_77.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_78.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_78.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/left-shoulder-pitch-0_split/left-shoulder-pitch-0_part_78.obj rename to 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actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_35.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_36.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_36.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_36.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_36.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_37.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_37.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_37.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_37.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-elbow-0_split/right-elbow-0_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_18.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_18.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_18.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_18.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_19.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_19.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_19.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_19.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_20.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_20.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_20.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_20.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_21.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_21.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_21.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_21.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_22.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_22.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_22.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_22.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_23.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_23.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_23.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_23.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_24.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_24.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_24.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_24.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_25.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_25.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_25.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_25.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_26.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_26.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_26.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_26.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_27.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_27.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_27.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_27.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_28.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_28.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_28.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_28.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_29.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_29.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_29.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_29.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_30.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_30.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_30.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_30.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_31.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_31.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_31.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_31.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_32.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_32.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_32.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_32.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-pitch-0_split/right-hip-pitch-0_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-roll-0_split/right-hip-roll-0_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-hip-yaw-0_split/right-hip-yaw-0_part_12.obj similarity index 100% rename from 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a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_100.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_100.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_100.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_100.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_101.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_101.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_101.obj rename to 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a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_27.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_27.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_27.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_27.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_28.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_28.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_28.obj rename to 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safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_30.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_30.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_30.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_30.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_31.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_31.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_31.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_31.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_32.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_32.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_32.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_32.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_33.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_33.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_33.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_33.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_34.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_34.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_34.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_34.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_35.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_35.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_35.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_35.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_36.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_36.obj similarity index 100% rename from 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b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_38.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_38.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_38.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_39.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_39.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_39.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_39.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_40.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_40.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_40.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_40.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_41.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_41.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_41.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_41.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_42.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_42.obj similarity index 100% rename from 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a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_46.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_46.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_46.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_46.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_47.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_47.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_47.obj rename to 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a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_65.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_65.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_65.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_65.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_66.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_66.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_66.obj rename to 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a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_71.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_71.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_71.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_71.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_72.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_72.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-shoulder-pitch-0_split/right-shoulder-pitch-0_part_72.obj rename to 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a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-toe-roll-0_split/right-toe-roll-0_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-toe-roll-0_split/right-toe-roll-0_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-toe-roll-0_split/right-toe-roll-0_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-toe-roll-0_split/right-toe-roll-0_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-toe-roll-0_split/right-toe-roll-0_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-toe-roll-0_split/right-toe-roll-0_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-toe-roll-0_split/right-toe-roll-0_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-toe-roll-0_split/right-toe-roll-0_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-toe-roll-0_split/right-toe-roll-0_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-toe-roll-0_split/right-toe-roll-0_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-toe-roll-0_split/right-toe-roll-0_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-toe-roll-0_split/right-toe-roll-0_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-toe-roll-0_split/right-toe-roll-0_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-toe-roll-0_split/right-toe-roll-0_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right-toe-roll-0_split/right-toe-roll-0_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right-toe-roll-0_split/right-toe-roll-0_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right_gauntlet.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right_gauntlet.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/right_gauntlet.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/right_gauntlet.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/shin.mtl b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/shin.mtl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/shin.mtl rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/shin.mtl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/shin.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/shin.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/shin.obj rename to 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to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/shin_split.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/shoulder-roll-housing.mtl b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/shoulder-roll-housing.mtl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/shoulder-roll-housing.mtl rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/shoulder-roll-housing.mtl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/shoulder-roll-housing.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/shoulder-roll-housing.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/shoulder-roll-housing.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/shoulder-roll-housing.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/shoulder-roll-housing.png 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to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/tarsus.png diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/tarsus_split.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/tarsus_split.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/tarsus_split.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/tarsus_split.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/toe-A-rod.mtl b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/toe-A-rod.mtl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/toe-A-rod.mtl rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/toe-A-rod.mtl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/toe-A-rod.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/toe-A-rod.obj similarity index 100% rename from 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actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/toe-output_split.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/toe-pitch.mtl b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/toe-pitch.mtl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/toe-pitch.mtl rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/toe-pitch.mtl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/toe-pitch.obj b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/toe-pitch.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/toe-pitch.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/toe-pitch.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/obj/toe-pitch.png b/actsafe/benchmark_suites/humanoid_bench/assets/digit/obj/toe-pitch.png similarity index 100% rename from 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a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/right-elbow-0_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/digit/right-elbow-0_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/right-elbow-0_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/right-elbow-0_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/right-elbow-0_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/digit/right-elbow-0_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/digit/right-elbow-0_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/digit/right-elbow-0_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/digit/right-hip-pitch-0_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/digit/right-hip-pitch-0_collision_0.xml similarity 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a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_hurdle.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_hurdle.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_hurdle.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_hurdle.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_maze.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_maze.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_maze.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_maze.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_package.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_package.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_package.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_package.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_pole.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_pole.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_pole.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_pole.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_push.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_push.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_push.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_push.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_reach.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_reach.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_reach.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_reach.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_run.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_run.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_run.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_run.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_sit_hard.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_sit_hard.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_sit_hard.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_sit_hard.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_sit_simple.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_sit_simple.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_sit_simple.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_sit_simple.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_slide.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_slide.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_slide.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_slide.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_stair.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_stair.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_stair.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_stair.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_stand.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_stand.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_stand.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_stand.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_truck.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_truck.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_truck.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_truck.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_walk.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_walk.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1_pos_walk.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1_pos_walk.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_balance_hard.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_balance_hard.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_balance_hard.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_balance_hard.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_balance_simple.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_balance_simple.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_balance_simple.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_balance_simple.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_basketball.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_basketball.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_basketball.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_basketball.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_bookshelf_hard.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_bookshelf_hard.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_bookshelf_hard.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_bookshelf_hard.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_bookshelf_simple.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_bookshelf_simple.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_bookshelf_simple.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_bookshelf_simple.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_cabinet.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_cabinet.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_cabinet.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_cabinet.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_crawl.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_crawl.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_crawl.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_crawl.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_cube.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_cube.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_cube.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_cube.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_door.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_door.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_door.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_door.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_hurdle.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_hurdle.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_hurdle.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_hurdle.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_insert_normal.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_insert_normal.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_insert_normal.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_insert_normal.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_insert_small.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_insert_small.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_insert_small.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_insert_small.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_kitchen.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_kitchen.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_kitchen.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_kitchen.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_maze.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_maze.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_maze.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_maze.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_package.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_package.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_package.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_package.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_pole.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_pole.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_pole.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_pole.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_powerlift.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_powerlift.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_powerlift.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_powerlift.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_push.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_push.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_push.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_push.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_reach.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_reach.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_reach.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_reach.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_room.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_room.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_room.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_room.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_run.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_run.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_run.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_run.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_sit_hard.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_sit_hard.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_sit_hard.xml rename to 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from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_spoon.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_spoon.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_stair.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_stair.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_stair.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_stair.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_stand.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_stand.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_stand.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_stand.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_truck.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_truck.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_truck.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_truck.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_walk.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_walk.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_walk.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_walk.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_window.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_window.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_window.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1hand_pos_window.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1simplehand_pos_stand.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1simplehand_pos_stand.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1simplehand_pos_stand.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1simplehand_pos_stand.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1strong_pos_highbar_hard.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1strong_pos_highbar_hard.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1strong_pos_highbar_hard.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/envs/h1strong_pos_highbar_hard.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/envs/h1touch_pos_balance_hard.xml b/actsafe/benchmark_suites/humanoid_bench/assets/envs/h1touch_pos_balance_hard.xml similarity index 100% rename from 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a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_ankle_link_split/left_ankle_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_collision_assets.xml similarity index 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safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_elbow_link_split/left_elbow_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hand_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hand_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hand_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hand_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_18.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_18.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_18.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_18.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_19.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_19.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_19.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_19.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_20.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_20.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_20.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_20.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_21.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_21.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_21.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_21.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_22.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_22.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_22.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_22.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_23.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_23.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_23.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_23.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_roll_link_split/left_hip_roll_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_18.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_18.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_18.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_18.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_19.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_19.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_19.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_19.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_20.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_20.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_20.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_20.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_21.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_21.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_21.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_21.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_22.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_22.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_22.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_22.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_23.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_23.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_23.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_23.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_24.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_24.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_24.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_24.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_25.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_25.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_25.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_25.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_26.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_26.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_26.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_26.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_27.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_27.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_27.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_27.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_knee_link_split/left_knee_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_roll_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_roll_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_roll_link.stl rename to 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a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_14.obj rename to 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a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/logo_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/logo_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/logo_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/logo_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/pelvis.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/pelvis.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/pelvis.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/pelvis.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/pelvis_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/pelvis_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/pelvis_collision_0.xml rename to 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a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_ankle_link_split/right_ankle_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_elbow_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_elbow_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_elbow_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_elbow_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_elbow_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_elbow_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_elbow_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_elbow_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_elbow_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_elbow_link_collision_assets.xml similarity index 100% rename from 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a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_18.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_18.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_18.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_18.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_19.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_19.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_19.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_19.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_20.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_20.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_20.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_20.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_21.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_21.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_21.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_21.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_22.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_22.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_22.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_22.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_23.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_23.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_23.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_23.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_roll_link_split/right_hip_roll_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_18.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_18.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_18.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_18.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_19.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_19.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_19.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_19.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_20.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_20.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_20.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_20.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_21.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_21.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_21.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_21.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_22.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_22.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_22.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_22.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_23.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_23.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_23.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_23.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_24.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_24.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_24.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_24.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_25.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_25.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_25.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_25.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_knee_link_split/right_knee_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_10.obj diff --git 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a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_yaw_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_yaw_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_yaw_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/h1/assets/right_shoulder_yaw_link.stl diff --git 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safe_opax/benchmark_suites/humanoid_bench/assets/kitchen/third_party/franka/meshes/visual/link3.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/kitchen/third_party/franka/meshes/visual/link3.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/kitchen/third_party/franka/meshes/visual/link4.stl b/actsafe/benchmark_suites/humanoid_bench/assets/kitchen/third_party/franka/meshes/visual/link4.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/kitchen/third_party/franka/meshes/visual/link4.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/kitchen/third_party/franka/meshes/visual/link4.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/kitchen/third_party/franka/meshes/visual/link5.stl b/actsafe/benchmark_suites/humanoid_bench/assets/kitchen/third_party/franka/meshes/visual/link5.stl similarity index 100% rename from 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--git a/safe_opax/benchmark_suites/humanoid_bench/assets/locomotion/generated_xml_poles.xml b/actsafe/benchmark_suites/humanoid_bench/assets/locomotion/generated_xml_poles.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/locomotion/generated_xml_poles.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/locomotion/generated_xml_poles.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/locomotion/generated_xml_stairs.xml b/actsafe/benchmark_suites/humanoid_bench/assets/locomotion/generated_xml_stairs.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/locomotion/generated_xml_stairs.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/locomotion/generated_xml_stairs.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/__init__.py b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/__init__.py similarity index 100% rename from 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a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_ankle_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_ankle_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_ankle_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_ankle_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_ankle_link_split/left_ankle_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_ankle_link_split/left_ankle_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_ankle_link_split/left_ankle_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_ankle_link_split/left_ankle_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_ankle_link_split/left_ankle_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_ankle_link_split/left_ankle_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_ankle_link_split/left_ankle_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_ankle_link_split/left_ankle_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_ankle_link_split/left_ankle_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_ankle_link_split/left_ankle_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_ankle_link_split/left_ankle_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_ankle_link_split/left_ankle_link_part_10.obj diff --git 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from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_18.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_18.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_18.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_18.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_19.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_19.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_19.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_19.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_20.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_20.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_20.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_20.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_21.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_21.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_21.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_21.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_elbow_link_split/left_elbow_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_18.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_18.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_18.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_18.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_19.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_19.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_19.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_19.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_20.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_20.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_20.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_20.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_21.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_21.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_21.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_21.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_22.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_22.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_22.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_22.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_23.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_23.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_23.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_23.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_pitch_link_split/left_hip_pitch_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_roll_link_split/left_hip_roll_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_18.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_18.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_18.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_18.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_19.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_19.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_19.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_19.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_20.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_20.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_20.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_20.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_21.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_21.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_21.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_21.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_22.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_22.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_22.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_22.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_23.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_23.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_23.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_23.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_24.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_24.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_24.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_24.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_25.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_25.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_25.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_25.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_26.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_26.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_26.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_26.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_27.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_27.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_27.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_27.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_hip_yaw_link_split/left_hip_yaw_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_knee_link_split/left_knee_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_pitch_link_split/left_shoulder_pitch_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_roll_link_split/left_shoulder_roll_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/left_shoulder_yaw_link_split/left_shoulder_yaw_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/logo_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/logo_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/logo_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/logo_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_13.obj similarity index 100% rename from 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actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_18.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_18.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_18.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_18.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_19.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_19.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_19.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_19.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_2.obj 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actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_23.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_24.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_24.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_24.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_24.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_25.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_25.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_25.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_25.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_26.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_26.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_26.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_26.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_27.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_27.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_27.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_27.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_28.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_28.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_28.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_28.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_29.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_29.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_29.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_29.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_30.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_30.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_30.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_30.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/pelvis_split/pelvis_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link.STL b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link.STL similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link.STL rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link.STL diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_ankle_link_split/right_ankle_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_elbow_link_split/right_elbow_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_18.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_18.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_18.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_18.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_19.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_19.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_19.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_19.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_20.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_20.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_20.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_20.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_21.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_21.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_21.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_21.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_22.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_22.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_22.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_22.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_23.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_23.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_23.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_23.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_pitch_link_split/right_hip_pitch_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_roll_link_split/right_hip_roll_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_18.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_18.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_18.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_18.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_19.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_19.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_19.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_19.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_20.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_20.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_20.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_20.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_21.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_21.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_21.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_21.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_22.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_22.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_22.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_22.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_23.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_23.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_23.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_23.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_24.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_24.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_24.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_24.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_25.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_25.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_25.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_25.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_hip_yaw_link_split/right_hip_yaw_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_knee_link_split/right_knee_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_pitch_link_split/right_shoulder_pitch_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_roll_link_split/right_shoulder_roll_link_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link.stl b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link.stl rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link.stl diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_collision_0.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_collision_0.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_collision_0.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_collision_0.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_collision_assets.xml b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_collision_assets.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_collision_assets.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_collision_assets.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_1.obj similarity index 100% rename from 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b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/mjx/assets/right_shoulder_yaw_link_split/right_shoulder_yaw_link_part_5.obj diff --git 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safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_12.obj 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actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_distal_pst_split/left_f_distal_pst_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_1.obj similarity index 100% rename from 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b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_f_middle_split/left_f_middle_part_14.obj rename to 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b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_5.obj similarity index 100% rename from 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b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_1_split/left_forearm_1_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_0.obj similarity index 100% rename from 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a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_11.obj similarity index 100% rename from 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a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_14.obj similarity index 100% rename from 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a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_3.obj similarity index 100% rename from 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a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_6.obj similarity index 100% rename from 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a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_forearm_collision_split/left_forearm_collision_part_9.obj similarity index 100% rename from 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a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_10.obj similarity index 100% rename from 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a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_13.obj similarity index 100% rename from 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a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_3.obj similarity index 100% rename from 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b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_lf_metacarpal_split/left_lf_metacarpal_part_6.obj rename to 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index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_palm_split/left_palm_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_palm_split/left_palm_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_palm_split/left_palm_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_palm_split/left_palm_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_palm_split/left_palm_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_palm_split/left_palm_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_14.obj similarity index 100% rename from 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a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_3.obj similarity index 100% rename from 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b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_6.obj rename to 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index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_distal_pst_split/left_th_distal_pst_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_1.obj rename to 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b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_middle_split/left_th_middle_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/left_th_proximal_split/left_th_proximal_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/lf_metacarpal.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/lf_metacarpal.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/lf_metacarpal.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/lf_metacarpal.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/lf_metacarpal_split.obj 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from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/palm.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/palm.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/palm_split.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/palm_split.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/palm_split.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/palm_split.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_0.obj similarity index 100% rename from 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b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_11.obj rename to 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similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_2.obj similarity index 100% rename from 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b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_5.obj rename to 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index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_distal_pst_split/right_f_distal_pst_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_0.obj rename to 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b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_15.obj rename to 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b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_middle_split/right_f_middle_part_8.obj rename to 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b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_18.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_18.obj similarity index 100% rename from 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b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_f_proximal_split/right_f_proximal_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_16.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_16.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_16.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_16.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_17.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_17.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_17.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_17.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_0_split/right_forearm_0_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_1.obj similarity index 100% rename from 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b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_14.obj rename to 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a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_1_split/right_forearm_1_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_15.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_forearm_collision_split/right_forearm_collision_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_1.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_10.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_10.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_10.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_10.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_11.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_11.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_11.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_11.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_14.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_14.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_14.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_3.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_3.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_4.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_6.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_6.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_7.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_7.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_7.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_7.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_8.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_8.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_8.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_8.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_9.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_9.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_9.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_lf_metacarpal_split/right_lf_metacarpal_part_9.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_palm_split/right_palm_part_0.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_palm_split/right_palm_part_0.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_palm_split/right_palm_part_0.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_palm_split/right_palm_part_0.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_palm_split/right_palm_part_1.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_palm_split/right_palm_part_1.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_palm_split/right_palm_part_1.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_palm_split/right_palm_part_1.obj diff --git 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b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_distal_pst_split/right_th_distal_pst_part_15.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_distal_pst_split/right_th_distal_pst_part_15.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_distal_pst_split/right_th_distal_pst_part_15.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_distal_pst_split/right_th_distal_pst_part_2.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_distal_pst_split/right_th_distal_pst_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_distal_pst_split/right_th_distal_pst_part_2.obj rename to 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b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_distal_pst_split/right_th_distal_pst_part_4.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_distal_pst_split/right_th_distal_pst_part_4.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_distal_pst_split/right_th_distal_pst_part_4.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_distal_pst_split/right_th_distal_pst_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_distal_pst_split/right_th_distal_pst_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_distal_pst_split/right_th_distal_pst_part_5.obj rename to 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a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_middle_split/right_th_middle_part_12.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_middle_split/right_th_middle_part_12.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_middle_split/right_th_middle_part_12.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_middle_split/right_th_middle_part_12.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_middle_split/right_th_middle_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_middle_split/right_th_middle_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_middle_split/right_th_middle_part_13.obj rename to 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a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_middle_split/right_th_middle_part_5.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_middle_split/right_th_middle_part_5.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_middle_split/right_th_middle_part_5.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_middle_split/right_th_middle_part_5.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_middle_split/right_th_middle_part_6.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_middle_split/right_th_middle_part_6.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_middle_split/right_th_middle_part_6.obj rename to 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a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_proximal_split/right_th_proximal_part_13.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_proximal_split/right_th_proximal_part_13.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_proximal_split/right_th_proximal_part_13.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_proximal_split/right_th_proximal_part_13.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_proximal_split/right_th_proximal_part_14.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_proximal_split/right_th_proximal_part_14.obj similarity index 100% rename from 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b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_proximal_split/right_th_proximal_part_2.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_proximal_split/right_th_proximal_part_2.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_proximal_split/right_th_proximal_part_2.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_proximal_split/right_th_proximal_part_3.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_proximal_split/right_th_proximal_part_3.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/right_th_proximal_split/right_th_proximal_part_3.obj rename to 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a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/th_proximal_split.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/th_proximal_split.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/th_proximal_split.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/th_proximal_split.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/wrist.obj b/actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/wrist.obj similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/wrist.obj rename to actsafe/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/assets/wrist.obj diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/shadow_hand_submodel/left_f_distal_pst_collision_0.xml 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b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/assets/kitchen-wood.png similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/assets/kitchen-wood.png rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/assets/kitchen-wood.png diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/assets/light-wood.png b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/assets/light-wood.png similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/assets/light-wood.png rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/assets/light-wood.png diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/assets/metal.png b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/assets/metal.png similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/assets/metal.png rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/assets/metal.png diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/assets/package_plain.png b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/assets/package_plain.png similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/assets/package_plain.png rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/assets/package_plain.png diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/assets/plywood-4k.png b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/assets/plywood-4k.png similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/assets/plywood-4k.png rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/assets/plywood-4k.png diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/assets/slide.stl b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/assets/slide.stl similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/assets/slide.stl rename to 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safe_opax/benchmark_suites/humanoid_bench/assets/tasks/balance_simple.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/balance_simple.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/basketball.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/basketball.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/basketball.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/basketball.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/bookshelf_hard.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/bookshelf_hard.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/bookshelf_hard.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/bookshelf_hard.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/bookshelf_simple.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/bookshelf_simple.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/bookshelf_simple.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/bookshelf_simple.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/cabinet.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/cabinet.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/cabinet.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/cabinet.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/crawl.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/crawl.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/crawl.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/crawl.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/cube.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/cube.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/cube.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/cube.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/door.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/door.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/door.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/door.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/highbar_hard.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/highbar_hard.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/highbar_hard.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/highbar_hard.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/highbar_simple.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/highbar_simple.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/highbar_simple.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/highbar_simple.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/hurdle.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/hurdle.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/hurdle.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/hurdle.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/insert_normal.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/insert_normal.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/insert_normal.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/insert_normal.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/insert_small.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/insert_small.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/insert_small.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/insert_small.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/kitchen.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/kitchen.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/kitchen.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/kitchen.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/maze.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/maze.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/maze.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/maze.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/package.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/package.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/package.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/package.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/pole.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/pole.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/pole.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/pole.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/powerlift.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/powerlift.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/powerlift.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/powerlift.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/push.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/push.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/push.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/push.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/reach.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/reach.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/reach.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/reach.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/room.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/room.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/room.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/room.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/sit_hard.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/sit_hard.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/sit_hard.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/sit_hard.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/sit_simple.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/sit_simple.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/sit_simple.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/sit_simple.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/slide.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/slide.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/slide.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/slide.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/spoon.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/spoon.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/spoon.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/spoon.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/stair.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/stair.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/stair.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/stair.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/truck.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/truck.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/truck.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/truck.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/assets/tasks/window.xml b/actsafe/benchmark_suites/humanoid_bench/assets/tasks/window.xml similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/assets/tasks/window.xml rename to actsafe/benchmark_suites/humanoid_bench/assets/tasks/window.xml diff --git a/safe_opax/benchmark_suites/humanoid_bench/data/reach_one_hand/mean.npy b/actsafe/benchmark_suites/humanoid_bench/data/reach_one_hand/mean.npy similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/data/reach_one_hand/mean.npy rename to actsafe/benchmark_suites/humanoid_bench/data/reach_one_hand/mean.npy diff --git a/safe_opax/benchmark_suites/humanoid_bench/data/reach_one_hand/model.ckpt b/actsafe/benchmark_suites/humanoid_bench/data/reach_one_hand/model.ckpt similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/data/reach_one_hand/model.ckpt rename to actsafe/benchmark_suites/humanoid_bench/data/reach_one_hand/model.ckpt diff --git a/safe_opax/benchmark_suites/humanoid_bench/data/reach_one_hand/torch_model.pt b/actsafe/benchmark_suites/humanoid_bench/data/reach_one_hand/torch_model.pt similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/data/reach_one_hand/torch_model.pt rename to actsafe/benchmark_suites/humanoid_bench/data/reach_one_hand/torch_model.pt diff --git a/safe_opax/benchmark_suites/humanoid_bench/data/reach_one_hand/var.npy b/actsafe/benchmark_suites/humanoid_bench/data/reach_one_hand/var.npy similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/data/reach_one_hand/var.npy rename to actsafe/benchmark_suites/humanoid_bench/data/reach_one_hand/var.npy diff --git a/safe_opax/benchmark_suites/humanoid_bench/data/reach_two_hands/mean.npy b/actsafe/benchmark_suites/humanoid_bench/data/reach_two_hands/mean.npy similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/data/reach_two_hands/mean.npy rename to actsafe/benchmark_suites/humanoid_bench/data/reach_two_hands/mean.npy diff --git a/safe_opax/benchmark_suites/humanoid_bench/data/reach_two_hands/torch_model.pt b/actsafe/benchmark_suites/humanoid_bench/data/reach_two_hands/torch_model.pt similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/data/reach_two_hands/torch_model.pt rename to actsafe/benchmark_suites/humanoid_bench/data/reach_two_hands/torch_model.pt diff --git a/safe_opax/benchmark_suites/humanoid_bench/data/reach_two_hands/var.npy b/actsafe/benchmark_suites/humanoid_bench/data/reach_two_hands/var.npy similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/data/reach_two_hands/var.npy rename to actsafe/benchmark_suites/humanoid_bench/data/reach_two_hands/var.npy diff --git a/safe_opax/benchmark_suites/humanoid_bench/dmc_wrapper.py b/actsafe/benchmark_suites/humanoid_bench/dmc_wrapper.py similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/dmc_wrapper.py rename to actsafe/benchmark_suites/humanoid_bench/dmc_wrapper.py diff --git a/safe_opax/benchmark_suites/humanoid_bench/env.py b/actsafe/benchmark_suites/humanoid_bench/env.py similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/env.py rename to actsafe/benchmark_suites/humanoid_bench/env.py diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/balance.py b/actsafe/benchmark_suites/humanoid_bench/envs/balance.py similarity index 98% rename from safe_opax/benchmark_suites/humanoid_bench/envs/balance.py rename to actsafe/benchmark_suites/humanoid_bench/envs/balance.py index 7438e26f..6b40ec89 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/balance.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/balance.py @@ -5,7 +5,7 @@ _STAND_HEIGHT = 1.65 -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task class BalanceBase(Task): diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/basic_locomotion_envs.py b/actsafe/benchmark_suites/humanoid_bench/envs/basic_locomotion_envs.py similarity index 99% rename from safe_opax/benchmark_suites/humanoid_bench/envs/basic_locomotion_envs.py rename to actsafe/benchmark_suites/humanoid_bench/envs/basic_locomotion_envs.py index 7443ea9e..ecfb5aa0 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/basic_locomotion_envs.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/basic_locomotion_envs.py @@ -6,7 +6,7 @@ from gymnasium.spaces import Box from dm_control.utils import rewards -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task # Height of head above which stand reward is 1. diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/basketball.py b/actsafe/benchmark_suites/humanoid_bench/envs/basketball.py similarity index 98% rename from safe_opax/benchmark_suites/humanoid_bench/envs/basketball.py rename to actsafe/benchmark_suites/humanoid_bench/envs/basketball.py index cc1ab13d..b2335e82 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/basketball.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/basketball.py @@ -3,7 +3,7 @@ from gymnasium.spaces import Box from dm_control.utils import rewards -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task _STAND_HEIGHT = 1.65 diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/bookshelf.py b/actsafe/benchmark_suites/humanoid_bench/envs/bookshelf.py similarity index 99% rename from safe_opax/benchmark_suites/humanoid_bench/envs/bookshelf.py rename to actsafe/benchmark_suites/humanoid_bench/envs/bookshelf.py index e255e4ed..25fa627d 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/bookshelf.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/bookshelf.py @@ -4,7 +4,7 @@ from gymnasium.spaces import Box from dm_control.utils import rewards -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task _STAND_HEIGHT = 1.65 diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/cabinet.py b/actsafe/benchmark_suites/humanoid_bench/envs/cabinet.py similarity index 99% rename from safe_opax/benchmark_suites/humanoid_bench/envs/cabinet.py rename to actsafe/benchmark_suites/humanoid_bench/envs/cabinet.py index 30968f03..a30804ea 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/cabinet.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/cabinet.py @@ -3,7 +3,7 @@ from gymnasium.spaces import Box from dm_control.utils import rewards -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task _STAND_HEIGHT = 1.65 diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/cube.py b/actsafe/benchmark_suites/humanoid_bench/envs/cube.py similarity index 98% rename from safe_opax/benchmark_suites/humanoid_bench/envs/cube.py rename to actsafe/benchmark_suites/humanoid_bench/envs/cube.py index 9845061e..c90077e9 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/cube.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/cube.py @@ -2,7 +2,7 @@ from gymnasium.spaces import Box from dm_control.utils import rewards -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task _STAND_HEIGHT = 1.65 diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/door.py b/actsafe/benchmark_suites/humanoid_bench/envs/door.py similarity index 98% rename from safe_opax/benchmark_suites/humanoid_bench/envs/door.py rename to actsafe/benchmark_suites/humanoid_bench/envs/door.py index f4f71e75..83687f84 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/door.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/door.py @@ -3,7 +3,7 @@ from gymnasium.spaces import Box from dm_control.utils import rewards -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task _STAND_HEIGHT = 1.65 diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/highbar.py b/actsafe/benchmark_suites/humanoid_bench/envs/highbar.py similarity index 97% rename from safe_opax/benchmark_suites/humanoid_bench/envs/highbar.py rename to actsafe/benchmark_suites/humanoid_bench/envs/highbar.py index 0fc84f57..dd7d76e4 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/highbar.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/highbar.py @@ -3,7 +3,7 @@ from gymnasium.spaces import Box from dm_control.utils import rewards -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task class HighBarBase(Task): diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/insert.py b/actsafe/benchmark_suites/humanoid_bench/envs/insert.py similarity index 98% rename from safe_opax/benchmark_suites/humanoid_bench/envs/insert.py rename to actsafe/benchmark_suites/humanoid_bench/envs/insert.py index 38c8884d..591b9abf 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/insert.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/insert.py @@ -3,7 +3,7 @@ from gymnasium.spaces import Box from dm_control.utils import rewards -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task _STAND_HEIGHT = 1.65 diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/kitchen.py b/actsafe/benchmark_suites/humanoid_bench/envs/kitchen.py similarity index 99% rename from safe_opax/benchmark_suites/humanoid_bench/envs/kitchen.py rename to actsafe/benchmark_suites/humanoid_bench/envs/kitchen.py index 4e044198..da59be43 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/kitchen.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/kitchen.py @@ -1,7 +1,7 @@ import numpy as np from gymnasium.spaces import Box -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task OBS_ELEMENT_INDICES = { "bottom burner": np.array([2, 3]), diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/maze.py b/actsafe/benchmark_suites/humanoid_bench/envs/maze.py similarity index 99% rename from safe_opax/benchmark_suites/humanoid_bench/envs/maze.py rename to actsafe/benchmark_suites/humanoid_bench/envs/maze.py index ee3e58d9..ccbcc0f2 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/maze.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/maze.py @@ -3,7 +3,7 @@ from gymnasium.spaces import Box from dm_control.utils import rewards -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task # Height of head above which stand reward is 1. _STAND_HEIGHT = 1.65 diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/package.py b/actsafe/benchmark_suites/humanoid_bench/envs/package.py similarity index 98% rename from safe_opax/benchmark_suites/humanoid_bench/envs/package.py rename to actsafe/benchmark_suites/humanoid_bench/envs/package.py index 367bb0e4..ada415a1 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/package.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/package.py @@ -3,7 +3,7 @@ from gymnasium.spaces import Box from dm_control.utils import rewards -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task _STAND_HEIGHT = 1.65 diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/pole.py b/actsafe/benchmark_suites/humanoid_bench/envs/pole.py similarity index 97% rename from safe_opax/benchmark_suites/humanoid_bench/envs/pole.py rename to actsafe/benchmark_suites/humanoid_bench/envs/pole.py index 9a2fc064..12e92eab 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/pole.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/pole.py @@ -2,7 +2,7 @@ from gymnasium.spaces import Box from dm_control.utils import rewards -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task # Height of head above which stand reward is 1. diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/powerlift.py b/actsafe/benchmark_suites/humanoid_bench/envs/powerlift.py similarity index 97% rename from safe_opax/benchmark_suites/humanoid_bench/envs/powerlift.py rename to actsafe/benchmark_suites/humanoid_bench/envs/powerlift.py index 11e6c04f..d61c79e0 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/powerlift.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/powerlift.py @@ -6,7 +6,7 @@ from gymnasium.spaces import Box from dm_control.utils import rewards -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task # Height of head above which stand reward is 1. diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/push.py b/actsafe/benchmark_suites/humanoid_bench/envs/push.py similarity index 98% rename from safe_opax/benchmark_suites/humanoid_bench/envs/push.py rename to actsafe/benchmark_suites/humanoid_bench/envs/push.py index cd3106a4..8d522294 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/push.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/push.py @@ -5,7 +5,7 @@ import gymnasium as gym from gymnasium.spaces import Box -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task class Push(Task): diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/reach.py b/actsafe/benchmark_suites/humanoid_bench/envs/reach.py similarity index 98% rename from safe_opax/benchmark_suites/humanoid_bench/envs/reach.py rename to actsafe/benchmark_suites/humanoid_bench/envs/reach.py index dd97afbf..99a9f26c 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/reach.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/reach.py @@ -5,7 +5,7 @@ import gymnasium as gym from gymnasium.spaces import Box -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task class Reach(Task): diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/room.py b/actsafe/benchmark_suites/humanoid_bench/envs/room.py similarity index 98% rename from safe_opax/benchmark_suites/humanoid_bench/envs/room.py rename to actsafe/benchmark_suites/humanoid_bench/envs/room.py index ddfd11a7..e1721d6e 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/room.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/room.py @@ -6,7 +6,7 @@ from gymnasium.spaces import Box from dm_control.utils import rewards -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task # Height of head above which stand reward is 1. diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/spoon.py b/actsafe/benchmark_suites/humanoid_bench/envs/spoon.py similarity index 98% rename from safe_opax/benchmark_suites/humanoid_bench/envs/spoon.py rename to actsafe/benchmark_suites/humanoid_bench/envs/spoon.py index 8ee3cda4..6ea7df4f 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/spoon.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/spoon.py @@ -3,7 +3,7 @@ from gymnasium.spaces import Box from dm_control.utils import rewards -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task _STAND_HEIGHT = 1.65 diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/truck.py b/actsafe/benchmark_suites/humanoid_bench/envs/truck.py similarity index 99% rename from safe_opax/benchmark_suites/humanoid_bench/envs/truck.py rename to actsafe/benchmark_suites/humanoid_bench/envs/truck.py index 6f0b7768..97c516a9 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/truck.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/truck.py @@ -3,7 +3,7 @@ from gymnasium.spaces import Box from dm_control.utils import rewards -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task class Truck(Task): diff --git a/safe_opax/benchmark_suites/humanoid_bench/envs/window.py b/actsafe/benchmark_suites/humanoid_bench/envs/window.py similarity index 98% rename from safe_opax/benchmark_suites/humanoid_bench/envs/window.py rename to actsafe/benchmark_suites/humanoid_bench/envs/window.py index 6e9ef9ae..b37571b3 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/envs/window.py +++ b/actsafe/benchmark_suites/humanoid_bench/envs/window.py @@ -3,7 +3,7 @@ from gymnasium.spaces import Box from dm_control.utils import rewards -from safe_opax.benchmark_suites.humanoid_bench.tasks import Task +from actsafe.benchmark_suites.humanoid_bench.tasks import Task _STAND_HEIGHT = 1.65 diff --git a/safe_opax/benchmark_suites/humanoid_bench/mjx/__init__.py b/actsafe/benchmark_suites/humanoid_bench/mjx/__init__.py similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/mjx/__init__.py rename to actsafe/benchmark_suites/humanoid_bench/mjx/__init__.py diff --git a/safe_opax/benchmark_suites/humanoid_bench/mjx/flax_to_torch.py b/actsafe/benchmark_suites/humanoid_bench/mjx/flax_to_torch.py similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/mjx/flax_to_torch.py rename to actsafe/benchmark_suites/humanoid_bench/mjx/flax_to_torch.py diff --git a/safe_opax/benchmark_suites/humanoid_bench/mjx/policy.py b/actsafe/benchmark_suites/humanoid_bench/mjx/policy.py similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/mjx/policy.py rename to actsafe/benchmark_suites/humanoid_bench/mjx/policy.py diff --git a/safe_opax/benchmark_suites/humanoid_bench/mjx/port_torch_model.py b/actsafe/benchmark_suites/humanoid_bench/mjx/port_torch_model.py similarity index 92% rename from safe_opax/benchmark_suites/humanoid_bench/mjx/port_torch_model.py rename to actsafe/benchmark_suites/humanoid_bench/mjx/port_torch_model.py index 093e5503..1283f63e 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/mjx/port_torch_model.py +++ b/actsafe/benchmark_suites/humanoid_bench/mjx/port_torch_model.py @@ -5,12 +5,12 @@ import jax import jax.numpy as jnp import equinox as eqx -from safe_opax.benchmark_suites.humanoid_bench.mjx.flax_to_torch import TorchModel -from safe_opax.benchmark_suites.humanoid_bench.mjx.policy import Model +from actsafe.benchmark_suites.humanoid_bench.mjx.flax_to_torch import TorchModel +from actsafe.benchmark_suites.humanoid_bench.mjx.policy import Model data_path = os.path.join( os.path.dirname(__file__), - "safe_opax", + "actsafe", "benchmark_suites", "humanoid_bench", "data", diff --git a/safe_opax/benchmark_suites/humanoid_bench/mjx/wrappers.py b/actsafe/benchmark_suites/humanoid_bench/mjx/wrappers.py similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/mjx/wrappers.py rename to actsafe/benchmark_suites/humanoid_bench/mjx/wrappers.py diff --git a/safe_opax/benchmark_suites/humanoid_bench/robots.py b/actsafe/benchmark_suites/humanoid_bench/robots.py similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/robots.py rename to actsafe/benchmark_suites/humanoid_bench/robots.py diff --git a/safe_opax/benchmark_suites/humanoid_bench/tasks.py b/actsafe/benchmark_suites/humanoid_bench/tasks.py similarity index 100% rename from safe_opax/benchmark_suites/humanoid_bench/tasks.py rename to actsafe/benchmark_suites/humanoid_bench/tasks.py diff --git a/safe_opax/benchmark_suites/humanoid_bench/wrappers.py b/actsafe/benchmark_suites/humanoid_bench/wrappers.py similarity index 99% rename from safe_opax/benchmark_suites/humanoid_bench/wrappers.py rename to actsafe/benchmark_suites/humanoid_bench/wrappers.py index 5e79b659..dc0d8fe4 100644 --- a/safe_opax/benchmark_suites/humanoid_bench/wrappers.py +++ b/actsafe/benchmark_suites/humanoid_bench/wrappers.py @@ -3,10 +3,9 @@ import numpy as np import mujoco -from safe_opax.benchmark_suites.humanoid_bench.mjx.policy import Model, Policy +from actsafe.benchmark_suites.humanoid_bench.mjx.policy import Model, Policy from .tasks import Task -# from safe_opax.benchmark_suites.humanoid_bench.env import HumanoidEnv def get_body_idxs(model): # Filter out hand and wrist joints diff --git a/safe_opax/benchmark_suites/safe_adaptation_gym/__init__.py b/actsafe/benchmark_suites/safe_adaptation_gym/__init__.py similarity index 90% rename from safe_opax/benchmark_suites/safe_adaptation_gym/__init__.py rename to actsafe/benchmark_suites/safe_adaptation_gym/__init__.py index 14c5b8ba..79fbc67d 100644 --- a/safe_opax/benchmark_suites/safe_adaptation_gym/__init__.py +++ b/actsafe/benchmark_suites/safe_adaptation_gym/__init__.py @@ -1,10 +1,10 @@ from gymnasium.wrappers.compatibility import EnvCompatibility from omegaconf import DictConfig import numpy as np -from safe_opax.benchmark_suites.utils import get_domain_and_task +from actsafe.benchmark_suites.utils import get_domain_and_task -from safe_opax.rl.types import EnvironmentFactory -from safe_opax.rl.wrappers import ChannelFirst +from actsafe.rl.types import EnvironmentFactory +from actsafe.rl.wrappers import ChannelFirst def sample_task(seed): diff --git a/safe_opax/benchmark_suites/utils.py b/actsafe/benchmark_suites/utils.py similarity index 100% rename from safe_opax/benchmark_suites/utils.py rename to actsafe/benchmark_suites/utils.py diff --git a/safe_opax/common/double_buffer.py b/actsafe/common/double_buffer.py similarity index 96% rename from safe_opax/common/double_buffer.py rename to actsafe/common/double_buffer.py index 3999dda6..5825c28f 100644 --- a/safe_opax/common/double_buffer.py +++ b/actsafe/common/double_buffer.py @@ -3,7 +3,7 @@ import jax -from safe_opax.rl.trajectory import TrajectoryData +from actsafe.rl.trajectory import TrajectoryData def double_buffer(ds: Iterable[TrajectoryData]) -> Iterator[TrajectoryData]: diff --git a/safe_opax/common/learner.py b/actsafe/common/learner.py similarity index 96% rename from safe_opax/common/learner.py rename to actsafe/common/learner.py index f75f0e14..93801fad 100644 --- a/safe_opax/common/learner.py +++ b/actsafe/common/learner.py @@ -6,7 +6,7 @@ import optax from jaxtyping import PyTree -from safe_opax.common.mixed_precision import apply_dtype +from actsafe.common.mixed_precision import apply_dtype class Learner: diff --git a/safe_opax/common/math.py b/actsafe/common/math.py similarity index 100% rename from safe_opax/common/math.py rename to actsafe/common/math.py diff --git a/safe_opax/common/mixed_precision.py b/actsafe/common/mixed_precision.py similarity index 100% rename from safe_opax/common/mixed_precision.py rename to actsafe/common/mixed_precision.py diff --git a/safe_opax/common/pytree_utils.py b/actsafe/common/pytree_utils.py similarity index 100% rename from safe_opax/common/pytree_utils.py rename to actsafe/common/pytree_utils.py diff --git a/safe_opax/configs/agent/la_mbda.yaml b/actsafe/configs/agent/la_mbda.yaml similarity index 100% rename from safe_opax/configs/agent/la_mbda.yaml rename to actsafe/configs/agent/la_mbda.yaml diff --git a/safe_opax/configs/agent/penalizer/lagrangian.yaml b/actsafe/configs/agent/penalizer/lagrangian.yaml similarity index 100% rename from safe_opax/configs/agent/penalizer/lagrangian.yaml rename to actsafe/configs/agent/penalizer/lagrangian.yaml diff --git a/safe_opax/configs/agent/penalizer/lbsgd.yaml b/actsafe/configs/agent/penalizer/lbsgd.yaml similarity index 100% rename from safe_opax/configs/agent/penalizer/lbsgd.yaml rename to actsafe/configs/agent/penalizer/lbsgd.yaml diff --git a/safe_opax/configs/config.yaml b/actsafe/configs/config.yaml similarity index 100% rename from safe_opax/configs/config.yaml rename to actsafe/configs/config.yaml diff --git a/safe_opax/configs/environment/dm_cartpole.yaml b/actsafe/configs/environment/dm_cartpole.yaml similarity index 100% rename from safe_opax/configs/environment/dm_cartpole.yaml rename to actsafe/configs/environment/dm_cartpole.yaml diff --git a/safe_opax/configs/environment/humanoid_bench.yaml b/actsafe/configs/environment/humanoid_bench.yaml similarity index 100% rename from safe_opax/configs/environment/humanoid_bench.yaml rename to actsafe/configs/environment/humanoid_bench.yaml diff --git a/safe_opax/configs/environment/safe_adaptation_gym.yaml b/actsafe/configs/environment/safe_adaptation_gym.yaml similarity index 100% rename from safe_opax/configs/environment/safe_adaptation_gym.yaml rename to actsafe/configs/environment/safe_adaptation_gym.yaml diff --git a/safe_opax/configs/experiment/debug.yaml b/actsafe/configs/experiment/debug.yaml similarity index 100% rename from safe_opax/configs/experiment/debug.yaml rename to actsafe/configs/experiment/debug.yaml diff --git a/safe_opax/configs/experiment/debug_unsupervised.yaml b/actsafe/configs/experiment/debug_unsupervised.yaml similarity index 100% rename from safe_opax/configs/experiment/debug_unsupervised.yaml rename to actsafe/configs/experiment/debug_unsupervised.yaml diff --git a/safe_opax/configs/experiment/humanoid.yaml b/actsafe/configs/experiment/humanoid.yaml similarity index 100% rename from safe_opax/configs/experiment/humanoid.yaml rename to actsafe/configs/experiment/humanoid.yaml diff --git a/safe_opax/configs/experiment/safe_sparse_button.yaml b/actsafe/configs/experiment/safe_sparse_button.yaml similarity index 100% rename from safe_opax/configs/experiment/safe_sparse_button.yaml rename to actsafe/configs/experiment/safe_sparse_button.yaml diff --git a/safe_opax/configs/experiment/safe_sparse_cartpole.yaml b/actsafe/configs/experiment/safe_sparse_cartpole.yaml similarity index 100% rename from safe_opax/configs/experiment/safe_sparse_cartpole.yaml rename to actsafe/configs/experiment/safe_sparse_cartpole.yaml diff --git a/safe_opax/configs/experiment/safe_sparse_goal.yaml b/actsafe/configs/experiment/safe_sparse_goal.yaml similarity index 100% rename from safe_opax/configs/experiment/safe_sparse_goal.yaml rename to actsafe/configs/experiment/safe_sparse_goal.yaml diff --git a/safe_opax/configs/experiment/safe_sparse_push.yaml b/actsafe/configs/experiment/safe_sparse_push.yaml similarity index 100% rename from safe_opax/configs/experiment/safe_sparse_push.yaml rename to actsafe/configs/experiment/safe_sparse_push.yaml diff --git a/safe_opax/configs/experiment/safety_gym.yaml b/actsafe/configs/experiment/safety_gym.yaml similarity index 100% rename from safe_opax/configs/experiment/safety_gym.yaml rename to actsafe/configs/experiment/safety_gym.yaml diff --git a/safe_opax/configs/experiment/unsupervised_cartpole.yaml b/actsafe/configs/experiment/unsupervised_cartpole.yaml similarity index 100% rename from safe_opax/configs/experiment/unsupervised_cartpole.yaml rename to actsafe/configs/experiment/unsupervised_cartpole.yaml diff --git a/safe_opax/configs/experiment/unsupervised_safety_gym.yaml b/actsafe/configs/experiment/unsupervised_safety_gym.yaml similarity index 100% rename from safe_opax/configs/experiment/unsupervised_safety_gym.yaml rename to actsafe/configs/experiment/unsupervised_safety_gym.yaml diff --git a/safe_opax/configs/hardware/2080_rtx.yaml b/actsafe/configs/hardware/2080_rtx.yaml similarity index 100% rename from safe_opax/configs/hardware/2080_rtx.yaml rename to actsafe/configs/hardware/2080_rtx.yaml diff --git a/safe_opax/configs/hardware/3090_rtx.yaml b/actsafe/configs/hardware/3090_rtx.yaml similarity index 100% rename from safe_opax/configs/hardware/3090_rtx.yaml rename to actsafe/configs/hardware/3090_rtx.yaml diff --git a/safe_opax/configs/hardware/4090_rtx.yaml b/actsafe/configs/hardware/4090_rtx.yaml similarity index 100% rename from safe_opax/configs/hardware/4090_rtx.yaml rename to actsafe/configs/hardware/4090_rtx.yaml diff --git a/safe_opax/configs/hydra/launcher/slurm.yaml b/actsafe/configs/hydra/launcher/slurm.yaml similarity index 100% rename from safe_opax/configs/hydra/launcher/slurm.yaml rename to actsafe/configs/hydra/launcher/slurm.yaml diff --git a/safe_opax/la_mbda/__init__.py b/actsafe/la_mbda/__init__.py similarity index 100% rename from safe_opax/la_mbda/__init__.py rename to actsafe/la_mbda/__init__.py diff --git a/safe_opax/la_mbda/actor_critic.py b/actsafe/la_mbda/actor_critic.py similarity index 95% rename from safe_opax/la_mbda/actor_critic.py rename to actsafe/la_mbda/actor_critic.py index 80a01801..ba574e68 100644 --- a/safe_opax/la_mbda/actor_critic.py +++ b/actsafe/la_mbda/actor_critic.py @@ -5,8 +5,8 @@ import jax.numpy as jnp import jax.nn as jnn -from safe_opax.common.math import inv_softplus -from safe_opax.rl.utils import rl_initialize_weights_trick +from actsafe.common.math import inv_softplus +from actsafe.rl.utils import rl_initialize_weights_trick class ContinuousActor(eqx.Module): diff --git a/safe_opax/la_mbda/augmented_lagrangian.py b/actsafe/la_mbda/augmented_lagrangian.py similarity index 95% rename from safe_opax/la_mbda/augmented_lagrangian.py rename to actsafe/la_mbda/augmented_lagrangian.py index 8597f67c..c45beb47 100644 --- a/safe_opax/la_mbda/augmented_lagrangian.py +++ b/actsafe/la_mbda/augmented_lagrangian.py @@ -6,8 +6,8 @@ import jax.numpy as jnp from jaxtyping import PyTree -from safe_opax.la_mbda.actor_critic import ContinuousActor -from safe_opax.la_mbda.safe_actor_critic import ActorEvaluation +from actsafe.la_mbda.actor_critic import ContinuousActor +from actsafe.la_mbda.safe_actor_critic import ActorEvaluation class AugmentedLagrangianUpdate(NamedTuple): diff --git a/safe_opax/la_mbda/dummy_penalizer.py b/actsafe/la_mbda/dummy_penalizer.py similarity index 85% rename from safe_opax/la_mbda/dummy_penalizer.py rename to actsafe/la_mbda/dummy_penalizer.py index 4321cd2d..ac12d71e 100644 --- a/safe_opax/la_mbda/dummy_penalizer.py +++ b/actsafe/la_mbda/dummy_penalizer.py @@ -4,8 +4,8 @@ import jax from jaxtyping import PyTree -from safe_opax.la_mbda.actor_critic import ContinuousActor -from safe_opax.la_mbda.safe_actor_critic import ActorEvaluation +from actsafe.la_mbda.actor_critic import ContinuousActor +from actsafe.la_mbda.safe_actor_critic import ActorEvaluation class DummyPenalizer: diff --git a/safe_opax/la_mbda/exploration.py b/actsafe/la_mbda/exploration.py similarity index 90% rename from safe_opax/la_mbda/exploration.py rename to actsafe/la_mbda/exploration.py index cd904bbd..e55afb13 100644 --- a/safe_opax/la_mbda/exploration.py +++ b/actsafe/la_mbda/exploration.py @@ -1,10 +1,10 @@ import jax from omegaconf import DictConfig -from safe_opax.la_mbda.opax_bridge import OpaxBridge -from safe_opax.la_mbda.make_actor_critic import make_actor_critic -from safe_opax.la_mbda.sentiment import identity, make_sentiment -from safe_opax.rl.types import Model, Policy +from actsafe.la_mbda.opax_bridge import OpaxBridge +from actsafe.la_mbda.make_actor_critic import make_actor_critic +from actsafe.la_mbda.sentiment import identity, make_sentiment +from actsafe.rl.types import Model, Policy class Exploration: diff --git a/safe_opax/la_mbda/la_mbda.py b/actsafe/la_mbda/la_mbda.py similarity index 92% rename from safe_opax/la_mbda/la_mbda.py rename to actsafe/la_mbda/la_mbda.py index bfc090a2..36129d19 100644 --- a/safe_opax/la_mbda/la_mbda.py +++ b/actsafe/la_mbda/la_mbda.py @@ -7,19 +7,19 @@ from gymnasium.spaces import Box from omegaconf import DictConfig -from safe_opax.common.learner import Learner -from safe_opax.la_mbda import rssm -from safe_opax.la_mbda.exploration import make_exploration -from safe_opax.la_mbda.make_actor_critic import make_actor_critic -from safe_opax.la_mbda.multi_reward import MultiRewardBridge -from safe_opax.la_mbda.replay_buffer import ReplayBuffer -from safe_opax.la_mbda.sentiment import make_sentiment -from safe_opax.la_mbda.world_model import WorldModel, evaluate_model, variational_step -from safe_opax.rl.epoch_summary import EpochSummary -from safe_opax.rl.metrics import MetricsMonitor -from safe_opax.rl.trajectory import TrajectoryData, Transition -from safe_opax.rl.types import FloatArray, Report -from safe_opax.rl.utils import Count, PRNGSequence, Until, add_to_buffer +from actsafe.common.learner import Learner +from actsafe.la_mbda import rssm +from actsafe.la_mbda.exploration import make_exploration +from actsafe.la_mbda.make_actor_critic import make_actor_critic +from actsafe.la_mbda.multi_reward import MultiRewardBridge +from actsafe.la_mbda.replay_buffer import ReplayBuffer +from actsafe.la_mbda.sentiment import make_sentiment +from actsafe.la_mbda.world_model import WorldModel, evaluate_model, variational_step +from actsafe.rl.epoch_summary import EpochSummary +from actsafe.rl.metrics import MetricsMonitor +from actsafe.rl.trajectory import TrajectoryData, Transition +from actsafe.rl.types import FloatArray, Report +from actsafe.rl.utils import Count, PRNGSequence, Until, add_to_buffer @eqx.filter_jit diff --git a/safe_opax/la_mbda/lbsgd.py b/actsafe/la_mbda/lbsgd.py similarity index 93% rename from safe_opax/la_mbda/lbsgd.py rename to actsafe/la_mbda/lbsgd.py index d15f623b..6db01f8c 100644 --- a/safe_opax/la_mbda/lbsgd.py +++ b/actsafe/la_mbda/lbsgd.py @@ -7,10 +7,10 @@ import jax.numpy as jnp from jaxtyping import PyTree -from safe_opax.common.mixed_precision import apply_dtype -from safe_opax.common.pytree_utils import pytrees_unstack -from safe_opax.la_mbda.actor_critic import ContinuousActor -from safe_opax.la_mbda.safe_actor_critic import ActorEvaluation +from actsafe.common.mixed_precision import apply_dtype +from actsafe.common.pytree_utils import pytrees_unstack +from actsafe.la_mbda.actor_critic import ContinuousActor +from actsafe.la_mbda.safe_actor_critic import ActorEvaluation _EPS = 1e-8 diff --git a/safe_opax/la_mbda/make_actor_critic.py b/actsafe/la_mbda/make_actor_critic.py similarity index 87% rename from safe_opax/la_mbda/make_actor_critic.py rename to actsafe/la_mbda/make_actor_critic.py index 65da4df7..404aed96 100644 --- a/safe_opax/la_mbda/make_actor_critic.py +++ b/actsafe/la_mbda/make_actor_critic.py @@ -1,10 +1,10 @@ import logging import numpy as np -from safe_opax.la_mbda.augmented_lagrangian import AugmentedLagrangianPenalizer -from safe_opax.la_mbda.dummy_penalizer import DummyPenalizer -from safe_opax.la_mbda.lbsgd import LBSGDPenalizer -from safe_opax.la_mbda.safe_actor_critic import SafeModelBasedActorCritic -from safe_opax.la_mbda.sentiment import bayes +from actsafe.la_mbda.augmented_lagrangian import AugmentedLagrangianPenalizer +from actsafe.la_mbda.dummy_penalizer import DummyPenalizer +from actsafe.la_mbda.lbsgd import LBSGDPenalizer +from actsafe.la_mbda.safe_actor_critic import SafeModelBasedActorCritic +from actsafe.la_mbda.sentiment import bayes _LOG = logging.getLogger(__name__) diff --git a/safe_opax/la_mbda/multi_reward.py b/actsafe/la_mbda/multi_reward.py similarity index 81% rename from safe_opax/la_mbda/multi_reward.py rename to actsafe/la_mbda/multi_reward.py index f0c32618..d1d2a104 100644 --- a/safe_opax/la_mbda/multi_reward.py +++ b/actsafe/la_mbda/multi_reward.py @@ -1,8 +1,8 @@ import jax import equinox as eqx -from safe_opax.la_mbda.rssm import ShiftScale, State -from safe_opax.la_mbda.world_model import WorldModel -from safe_opax.rl.types import Policy, Prediction +from actsafe.la_mbda.rssm import ShiftScale, State +from actsafe.la_mbda.world_model import WorldModel +from actsafe.rl.types import Policy, Prediction class MultiRewardBridge(eqx.Module): diff --git a/safe_opax/la_mbda/opax_bridge.py b/actsafe/la_mbda/opax_bridge.py similarity index 78% rename from safe_opax/la_mbda/opax_bridge.py rename to actsafe/la_mbda/opax_bridge.py index f9e4b771..6a97032f 100644 --- a/safe_opax/la_mbda/opax_bridge.py +++ b/actsafe/la_mbda/opax_bridge.py @@ -1,9 +1,9 @@ import jax import equinox as eqx -from safe_opax import opax -from safe_opax.la_mbda.rssm import ShiftScale, State -from safe_opax.la_mbda.world_model import WorldModel -from safe_opax.rl.types import Policy, Prediction +from actsafe import opax +from actsafe.la_mbda.rssm import ShiftScale, State +from actsafe.la_mbda.world_model import WorldModel +from actsafe.rl.types import Policy, Prediction class OpaxBridge(eqx.Module): diff --git a/safe_opax/la_mbda/replay_buffer.py b/actsafe/la_mbda/replay_buffer.py similarity index 97% rename from safe_opax/la_mbda/replay_buffer.py rename to actsafe/la_mbda/replay_buffer.py index 6bd0fd34..b971253c 100644 --- a/safe_opax/la_mbda/replay_buffer.py +++ b/actsafe/la_mbda/replay_buffer.py @@ -2,8 +2,8 @@ import jax import numpy as np -from safe_opax.common.double_buffer import double_buffer -from safe_opax.rl.trajectory import TrajectoryData +from actsafe.common.double_buffer import double_buffer +from actsafe.rl.trajectory import TrajectoryData class ReplayBuffer: diff --git a/safe_opax/la_mbda/rssm.py b/actsafe/la_mbda/rssm.py similarity index 99% rename from safe_opax/la_mbda/rssm.py rename to actsafe/la_mbda/rssm.py index 1e4b1f22..24dca8b4 100644 --- a/safe_opax/la_mbda/rssm.py +++ b/actsafe/la_mbda/rssm.py @@ -7,7 +7,7 @@ import jax.nn as jnn import jax.numpy as jnp -from safe_opax.rl.utils import init_linear_weights_and_biases +from actsafe.rl.utils import init_linear_weights_and_biases class State(NamedTuple): diff --git a/safe_opax/la_mbda/safe_actor_critic.py b/actsafe/la_mbda/safe_actor_critic.py similarity index 96% rename from safe_opax/la_mbda/safe_actor_critic.py rename to actsafe/la_mbda/safe_actor_critic.py index 5f2da0ac..47421b3c 100644 --- a/safe_opax/la_mbda/safe_actor_critic.py +++ b/actsafe/la_mbda/safe_actor_critic.py @@ -7,14 +7,14 @@ from optax import OptState import distrax as trx -from safe_opax.common.learner import Learner -from safe_opax.common.mixed_precision import apply_mixed_precision -from safe_opax.la_mbda.rssm import ShiftScale -from safe_opax.la_mbda.sentiment import Sentiment -from safe_opax.la_mbda.actor_critic import ContinuousActor, Critic, actor_entropy -from safe_opax.opax import normalized_epistemic_uncertainty -from safe_opax.rl.types import Model, RolloutFn -from safe_opax.rl.utils import nest_vmap +from actsafe.common.learner import Learner +from actsafe.common.mixed_precision import apply_mixed_precision +from actsafe.la_mbda.rssm import ShiftScale +from actsafe.la_mbda.sentiment import Sentiment +from actsafe.la_mbda.actor_critic import ContinuousActor, Critic, actor_entropy +from actsafe.opax import normalized_epistemic_uncertainty +from actsafe.rl.types import Model, RolloutFn +from actsafe.rl.utils import nest_vmap class ActorEvaluation(NamedTuple): diff --git a/safe_opax/la_mbda/sentiment.py b/actsafe/la_mbda/sentiment.py similarity index 89% rename from safe_opax/la_mbda/sentiment.py rename to actsafe/la_mbda/sentiment.py index be28e6cf..d3f7dca2 100644 --- a/safe_opax/la_mbda/sentiment.py +++ b/actsafe/la_mbda/sentiment.py @@ -1,8 +1,8 @@ from typing import Protocol import jax -from safe_opax.la_mbda.rssm import ShiftScale -from safe_opax.opax import normalized_epistemic_uncertainty +from actsafe.la_mbda.rssm import ShiftScale +from actsafe.opax import normalized_epistemic_uncertainty class Sentiment(Protocol): diff --git a/safe_opax/la_mbda/types.py b/actsafe/la_mbda/types.py similarity index 89% rename from safe_opax/la_mbda/types.py rename to actsafe/la_mbda/types.py index adcc02a3..2cd50f0d 100644 --- a/safe_opax/la_mbda/types.py +++ b/actsafe/la_mbda/types.py @@ -6,7 +6,7 @@ import jax -from safe_opax.rl.types import FloatArray +from actsafe.rl.types import FloatArray class Actor(Protocol): diff --git a/safe_opax/la_mbda/utils.py b/actsafe/la_mbda/utils.py similarity index 100% rename from safe_opax/la_mbda/utils.py rename to actsafe/la_mbda/utils.py diff --git a/safe_opax/la_mbda/world_model.py b/actsafe/la_mbda/world_model.py similarity index 97% rename from safe_opax/la_mbda/world_model.py rename to actsafe/la_mbda/world_model.py index f0fcbab4..cd378514 100644 --- a/safe_opax/la_mbda/world_model.py +++ b/actsafe/la_mbda/world_model.py @@ -6,13 +6,13 @@ import distrax as dtx from optax import OptState -from safe_opax.common.learner import Learner -from safe_opax.common.mixed_precision import apply_mixed_precision -from safe_opax.la_mbda.rssm import RSSM, Features, ShiftScale, State -from safe_opax.rl.types import Prediction -from safe_opax.la_mbda.utils import marginalize_prediction -from safe_opax.rl.types import Policy -from safe_opax.rl.utils import nest_vmap +from actsafe.common.learner import Learner +from actsafe.common.mixed_precision import apply_mixed_precision +from actsafe.la_mbda.rssm import RSSM, Features, ShiftScale, State +from actsafe.rl.types import Prediction +from actsafe.la_mbda.utils import marginalize_prediction +from actsafe.rl.types import Policy +from actsafe.rl.utils import nest_vmap _EMBEDDING_SIZE = 1024 diff --git a/safe_opax/lambda_dalal/__init__.py b/actsafe/lambda_dalal/__init__.py similarity index 100% rename from safe_opax/lambda_dalal/__init__.py rename to actsafe/lambda_dalal/__init__.py diff --git a/safe_opax/lambda_dalal/cost_model.py b/actsafe/lambda_dalal/cost_model.py similarity index 100% rename from safe_opax/lambda_dalal/cost_model.py rename to actsafe/lambda_dalal/cost_model.py diff --git a/safe_opax/lambda_dalal/la_mbda_dalal.py b/actsafe/lambda_dalal/la_mbda_dalal.py similarity index 91% rename from safe_opax/lambda_dalal/la_mbda_dalal.py rename to actsafe/lambda_dalal/la_mbda_dalal.py index cac793f4..3414d0fe 100644 --- a/safe_opax/lambda_dalal/la_mbda_dalal.py +++ b/actsafe/lambda_dalal/la_mbda_dalal.py @@ -7,11 +7,11 @@ from omegaconf import DictConfig from optax import OptState, l2_loss -from safe_opax.common.learner import Learner -from safe_opax.common.mixed_precision import apply_mixed_precision -from safe_opax.la_mbda.la_mbda import LaMBDA -from safe_opax.rl.trajectory import TrajectoryData, Transition -from safe_opax.rl.types import FloatArray +from actsafe.common.learner import Learner +from actsafe.common.mixed_precision import apply_mixed_precision +from actsafe.la_mbda.la_mbda import LaMBDA +from actsafe.rl.trajectory import TrajectoryData, Transition +from actsafe.rl.types import FloatArray @eqx.filter_jit diff --git a/safe_opax/opax.py b/actsafe/opax.py similarity index 91% rename from safe_opax/opax.py rename to actsafe/opax.py index a944b807..66baab24 100644 --- a/safe_opax/opax.py +++ b/actsafe/opax.py @@ -1,7 +1,7 @@ import jax import jax.numpy as jnp -from safe_opax.la_mbda.rssm import ShiftScale -from safe_opax.rl.types import Prediction +from actsafe.la_mbda.rssm import ShiftScale +from actsafe.rl.types import Prediction _EPS = 1e-5 diff --git a/safe_opax/rl/__init__.py b/actsafe/rl/__init__.py similarity index 100% rename from safe_opax/rl/__init__.py rename to actsafe/rl/__init__.py diff --git a/safe_opax/rl/acting.py b/actsafe/rl/acting.py similarity index 92% rename from safe_opax/rl/acting.py rename to actsafe/rl/acting.py index e7215d34..b69530a4 100644 --- a/safe_opax/rl/acting.py +++ b/actsafe/rl/acting.py @@ -1,10 +1,10 @@ import numpy as np from tqdm import tqdm -from safe_opax.rl.episodic_async_env import EpisodicAsync -from safe_opax.rl.epoch_summary import EpochSummary -from safe_opax.rl.trajectory import Trajectory, TrajectoryData, Transition -from safe_opax.rl.types import Agent +from actsafe.rl.episodic_async_env import EpisodicAsync +from actsafe.rl.epoch_summary import EpochSummary +from actsafe.rl.trajectory import Trajectory, TrajectoryData, Transition +from actsafe.rl.types import Agent def _summarize_episodes( diff --git a/safe_opax/rl/episodic_async_env.py b/actsafe/rl/episodic_async_env.py similarity index 99% rename from safe_opax/rl/episodic_async_env.py rename to actsafe/rl/episodic_async_env.py index 1c791876..d01e1efc 100644 --- a/safe_opax/rl/episodic_async_env.py +++ b/actsafe/rl/episodic_async_env.py @@ -14,7 +14,7 @@ from gymnasium.wrappers.rescale_action import RescaleAction from gymnasium.wrappers.time_limit import TimeLimit -from safe_opax.rl import wrappers +from actsafe.rl import wrappers log = logging.getLogger("async_env") diff --git a/safe_opax/rl/epoch_summary.py b/actsafe/rl/epoch_summary.py similarity index 97% rename from safe_opax/rl/epoch_summary.py rename to actsafe/rl/epoch_summary.py index 81dfc7c6..7c3d7cf9 100644 --- a/safe_opax/rl/epoch_summary.py +++ b/actsafe/rl/epoch_summary.py @@ -4,7 +4,7 @@ import numpy as np from numpy import typing as npt -from safe_opax.rl.trajectory import Trajectory +from actsafe.rl.trajectory import Trajectory @dataclass diff --git a/safe_opax/rl/logging.py b/actsafe/rl/logging.py similarity index 98% rename from safe_opax/rl/logging.py rename to actsafe/rl/logging.py index c0a61319..e9baa28e 100644 --- a/safe_opax/rl/logging.py +++ b/actsafe/rl/logging.py @@ -135,7 +135,7 @@ def __init__(self, config: DictConfig): config.wandb.name = name config_dict = omegaconf.OmegaConf.to_container(config, resolve=True) assert isinstance(config_dict, dict) - wandb.init(project="safe-opax", resume=True, config=config_dict, **config.wandb) + wandb.init(project="actsafe", resume=True, config=config_dict, **config.wandb) self._handle = wandb def log(self, summary: dict[str, float], step: int): diff --git a/safe_opax/rl/metrics.py b/actsafe/rl/metrics.py similarity index 98% rename from safe_opax/rl/metrics.py rename to actsafe/rl/metrics.py index f546c927..c96c7588 100644 --- a/safe_opax/rl/metrics.py +++ b/actsafe/rl/metrics.py @@ -6,7 +6,7 @@ import numpy.typing as npt from tabulate import tabulate -from safe_opax.rl.types import FloatArray +from actsafe.rl.types import FloatArray @dataclass diff --git a/safe_opax/rl/trainer.py b/actsafe/rl/trainer.py similarity index 95% rename from safe_opax/rl/trainer.py rename to actsafe/rl/trainer.py index e5d830ea..1d557c01 100644 --- a/safe_opax/rl/trainer.py +++ b/actsafe/rl/trainer.py @@ -7,14 +7,14 @@ from omegaconf import DictConfig import numpy as np -from safe_opax import benchmark_suites -from safe_opax.la_mbda.la_mbda import LaMBDA -from safe_opax.lambda_dalal.la_mbda_dalal import LaMBDADalal -from safe_opax.rl import acting, episodic_async_env -from safe_opax.rl.epoch_summary import EpochSummary -from safe_opax.rl.logging import StateWriter, TrainingLogger -from safe_opax.rl.types import EnvironmentFactory -from safe_opax.rl.utils import PRNGSequence +from actsafe import benchmark_suites +from actsafe.la_mbda.la_mbda import LaMBDA +from actsafe.lambda_dalal.la_mbda_dalal import LaMBDADalal +from actsafe.rl import acting, episodic_async_env +from actsafe.rl.epoch_summary import EpochSummary +from actsafe.rl.logging import StateWriter, TrainingLogger +from actsafe.rl.types import EnvironmentFactory +from actsafe.rl.utils import PRNGSequence from safe_adaptation_gym.benchmark import TASKS from safe_adaptation_gym.tasks import Task diff --git a/safe_opax/rl/trajectory.py b/actsafe/rl/trajectory.py similarity index 100% rename from safe_opax/rl/trajectory.py rename to actsafe/rl/trajectory.py diff --git a/safe_opax/rl/types.py b/actsafe/rl/types.py similarity index 93% rename from safe_opax/rl/types.py rename to actsafe/rl/types.py index b24f9b90..9b3ca4a4 100644 --- a/safe_opax/rl/types.py +++ b/actsafe/rl/types.py @@ -14,8 +14,8 @@ from numpy import typing as npt from omegaconf import DictConfig -from safe_opax.rl.epoch_summary import EpochSummary -from safe_opax.rl.trajectory import TrajectoryData, Transition +from actsafe.rl.epoch_summary import EpochSummary +from actsafe.rl.trajectory import TrajectoryData, Transition FloatArray = npt.NDArray[Union[np.float32, np.float64]] diff --git a/safe_opax/rl/utils.py b/actsafe/rl/utils.py similarity index 98% rename from safe_opax/rl/utils.py rename to actsafe/rl/utils.py index 088fa7b8..a7c99f41 100644 --- a/safe_opax/rl/utils.py +++ b/actsafe/rl/utils.py @@ -2,7 +2,7 @@ import jax.numpy as jnp import equinox as eqx -from safe_opax.rl.trajectory import TrajectoryData +from actsafe.rl.trajectory import TrajectoryData class PRNGSequence: diff --git a/safe_opax/rl/wrappers.py b/actsafe/rl/wrappers.py similarity index 100% rename from safe_opax/rl/wrappers.py rename to actsafe/rl/wrappers.py diff --git a/pyproject.toml b/pyproject.toml index ab122444..cd2a1348 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -82,7 +82,7 @@ exclude = [ "dist", "node_modules", "venv", - "safe_opax/benchmark_suites/humanoid_bench", + "actsafe/benchmark_suites/humanoid_bench", ] [tool.ruff.format] @@ -99,8 +99,8 @@ disallow_untyped_defs = false disallow_subclassing_any = false disallow_untyped_calls = false strict_optional = true -exclude = "safe_opax/benchmark_suites/humanoid_bench" +exclude = "actsafe/benchmark_suites/humanoid_bench" [[tool.mypy.overrides]] -module = ["safe_opax.benchmark_suites.humanoid_bench.*"] +module = ["actsafe.benchmark_suites.humanoid_bench.*"] ignore_errors = true \ No newline at end of file diff --git a/tests/__init__.py b/tests/__init__.py index 3402f33f..e5c9112f 100644 --- a/tests/__init__.py +++ b/tests/__init__.py @@ -1,7 +1,7 @@ from hydra import compose, initialize import numpy as np -from safe_opax.rl.types import Report +from actsafe.rl.types import Report class DummyAgent: @@ -27,7 +27,7 @@ def report(self, *args, **kwargs) -> Report: def make_test_config(additional_overrides=None): if additional_overrides is None: additional_overrides = [] - with initialize(version_base=None, config_path="../safe_opax/configs"): + with initialize(version_base=None, config_path="../actsafe/configs"): cfg = compose( config_name="config", overrides=[ diff --git a/tests/test_mixed_precision.py b/tests/test_mixed_precision.py index ef3e4057..9ca6909d 100644 --- a/tests/test_mixed_precision.py +++ b/tests/test_mixed_precision.py @@ -3,7 +3,7 @@ import jax import equinox as eqx from jmp import get_policy -from safe_opax.common.mixed_precision import apply_mixed_precision +from actsafe.common.mixed_precision import apply_mixed_precision @pytest.fixture diff --git a/tests/test_safe_adaptation_gym.py b/tests/test_safe_adaptation_gym.py index ce17e806..f14e5709 100644 --- a/tests/test_safe_adaptation_gym.py +++ b/tests/test_safe_adaptation_gym.py @@ -4,7 +4,7 @@ from gymnasium.wrappers.compatibility import EnvCompatibility from safe_adaptation_gym.safe_adaptation_gym import SafeAdaptationGym -from safe_opax.benchmark_suites import make +from actsafe.benchmark_suites import make @pytest.fixture diff --git a/tests/test_trainer.py b/tests/test_trainer.py index e108967a..91c57518 100644 --- a/tests/test_trainer.py +++ b/tests/test_trainer.py @@ -2,8 +2,8 @@ import time import pytest from tests import DummyAgent, make_test_config -from safe_opax.rl.trainer import Trainer -from safe_opax import benchmark_suites +from actsafe.rl.trainer import Trainer +from actsafe import benchmark_suites @pytest.fixture diff --git a/tests/test_unsupervised_trainer.py b/tests/test_unsupervised_trainer.py index 0378d4bd..40a374b4 100644 --- a/tests/test_unsupervised_trainer.py +++ b/tests/test_unsupervised_trainer.py @@ -2,9 +2,9 @@ from unittest.mock import patch import pytest from omegaconf import open_dict -from safe_opax.rl.trainer import UnsupervisedTrainer +from actsafe.rl.trainer import UnsupervisedTrainer from tests import DummyAgent, make_test_config -from safe_opax import benchmark_suites +from actsafe import benchmark_suites @pytest.fixture diff --git a/train_lambda.py b/train_lambda.py index e1f10801..6dce402e 100644 --- a/train_lambda.py +++ b/train_lambda.py @@ -4,13 +4,13 @@ from omegaconf import OmegaConf import jax -from safe_opax.common.mixed_precision import mixed_precision -from safe_opax.rl.trainer import get_state_path, load_state, should_resume, start_fresh +from actsafe.common.mixed_precision import mixed_precision +from actsafe.rl.trainer import get_state_path, load_state, should_resume, start_fresh _LOG = logging.getLogger(__name__) -@hydra.main(version_base=None, config_path="safe_opax/configs", config_name="config") +@hydra.main(version_base=None, config_path="actsafe/configs", config_name="config") def main(cfg): _LOG.info( f"Setting up experiment with the following configuration: "