python3 scripts/play.py Unitree-Go2-Parkour --checkpoint-file=logs/rsl_rl/go2_parkour/2026-03-23_21-45-59/model_15000.pt python3 scripts/play.py Unitree-Go2-Flat --checkpoint-file=logs/rsl_rl/go2_velocity/2026-03-18_23-30-35/model_1000.pt