diff --git a/README.md b/README.md
index ce7f5ad..fc160fb 100644
--- a/README.md
+++ b/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:
 
diff --git a/scripts/reinforcement_learning/rsl_rl/cli_args.py b/scripts/rsl_rl/cli_args.py
similarity index 100%
rename from scripts/reinforcement_learning/rsl_rl/cli_args.py
rename to scripts/rsl_rl/cli_args.py
diff --git a/scripts/reinforcement_learning/rsl_rl/play.py b/scripts/rsl_rl/play.py
similarity index 100%
rename from scripts/reinforcement_learning/rsl_rl/play.py
rename to scripts/rsl_rl/play.py
diff --git a/scripts/reinforcement_learning/rsl_rl/train.py b/scripts/rsl_rl/train.py
similarity index 100%
rename from scripts/reinforcement_learning/rsl_rl/train.py
rename to scripts/rsl_rl/train.py
diff --git a/scripts/reinforcement_learning/rsl_rl/utils.py b/scripts/rsl_rl/utils.py
similarity index 100%
rename from scripts/reinforcement_learning/rsl_rl/utils.py
rename to scripts/rsl_rl/utils.py
diff --git a/source/robot_lab/robot_lab/assets/unitree.py b/source/robot_lab/robot_lab/assets/unitree.py
index 926c591..db7dfb9 100644
--- a/source/robot_lab/robot_lab/assets/unitree.py
+++ b/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,
         ),