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Update play.py to adapt Isaaclab v2.1.0 and rsl-rl-lib v2.3.1 #55

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Update play.py to adapt Isaaclab v2.1.0 and rsl-rl-lib v2.3.1 #55

Update play.py to adapt breaking change from Isaaclab v2.1.0 that dep…
4710696
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