enable self collisions; update readme; refactor script dir.

README.md

@@ -102,6 +102,10 @@ xml_path: "{ROOT_DIR}/resource/go2/your-custom-scene.xml"
 - Terrain's composition are different(see code).
 - tracking reward are different (fixed sigma vs. dynamic sigma).
 
+## ToDo
+
+- Try using DelayedPDActuatorCfg to replace ActionManager-Level action delay implementation.
+
 ## Acknowledgements
 This repository would not exist without the following open-source projects:
 

source/robot_lab/robot_lab/assets/unitree.py

@@ -32,7 +32,7 @@ UNITREE_GO2_CFG = ArticulationCfg(
             max_depenetration_velocity=1.0,
         ),
         articulation_props=sim_utils.ArticulationRootPropertiesCfg(
-            enabled_self_collisions=False,
+            enabled_self_collisions=True,
             solver_position_iteration_count=4,
             solver_velocity_iteration_count=0,
         ),