Some problems with Brax Environment Training

[davidkillerhahaha]

Hello,
We tried to run this version of codes and found it all goes well with double pendulum env, but had some problems we cannot solve with Brax Environment Training. For example:

1. ImportError: cannot import name 'vec_to_np' from 'brax.physics.base' or ModuleNotFoundError: No module named 'brax.physics.math' and etc. We can replace 'vac_to_arr' with 'vec_to_np' and replace 'from brax.math import ang_to_quat, euler_to_quat' with current version. I don't know if it caused by the update of Brax ? Some more problems in 'utils_brax.py'...
2. Traceback (most recent call last): File "/home/nifei/anaconda3/envs/pinntest/lib/python3.7/runpy.py", line 193, in _run_module_as_main "__main__", mod_spec) File "/home/nifei/anaconda3/envs/pinntest/lib/python3.7/runpy.py", line 85, in _run_code exec(code, run_globals) File "/home/nifei/working/physics_constrained_nn/examples/brax/generate_sample.py", line 248, in <module> main_fn(args.cfg, m_config_aux) File "/home/nifei/working/physics_constrained_nn/examples/brax/generate_sample.py", line 134, in main_fn pos_indx, quat_indx, rot_indx = utils_brax.index_active_posrot(env.sys) File "/home/nifei/working/physics_constrained_nn/physics_constrained_nn/utils_brax.py", line 41, in index_active_posrot pos_indx = brax_sys.active_pos.astype(bool) AttributeError: 'System' object has no attribute 'active_pos'
   This error we met is so strange and could you help with us please?