pyglet批处理添加中出现的问题。

Question

错误：

Traceback (most recent call last):
  File "D:\SoftWare\AI\Python3.7\lib\site-packages\pyglet\graphics\__init__.py", line 511, in _get_domain
    domain = domain_map[key]
KeyError: (('v2f', 'c3B'), 7, False, 4)

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "D:/SoftWare/Project/Python/robot_arm/env/env.py", line 148, in <module>
    env.render()
  File "D:/SoftWare/Project/Python/robot_arm/env/env.py", line 53, in render
    self.viewer = Viewer(self.arm_info, self.goal)
  File "D:/SoftWare/Project/Python/robot_arm/env/env.py", line 85, in __init__
    ('c3B', (86, 109, 249)*4))  # color
  File "D:\SoftWare\AI\Python3.7\lib\site-packages\pyglet\graphics\__init__.py", line 425, in add
    domain = self._get_domain(False, mode, group, formats)
  File "D:\SoftWare\AI\Python3.7\lib\site-packages\pyglet\graphics\__init__.py", line 514, in _get_domain
    domain = vertexdomain.create_domain(shader_program, *formats, indexed=indexed)
  File "D:\SoftWare\AI\Python3.7\lib\site-packages\pyglet\graphics\vertexdomain.py", line 131, in create_domain
    attribute_usages = [create_attribute_usage(shader_program, f) for f in attribute_usage_formats]
  File "D:\SoftWare\AI\Python3.7\lib\site-packages\pyglet\graphics\vertexdomain.py", line 131, in <listcomp>
    attribute_usages = [create_attribute_usage(shader_program, f) for f in attribute_usage_formats]
  File "D:\SoftWare\AI\Python3.7\lib\site-packages\pyglet\graphics\vertexdomain.py", line 113, in create_attribute_usage
    attribute = vertexattribute.create_attribute(shader_program, attribute_format)
  File "D:\SoftWare\AI\Python3.7\lib\site-packages\pyglet\graphics\vertexattribute.py", line 225, in create_attribute
    assert attribute_meta, f"No '{name}' attribute found in {shader_program}.\n"\
AssertionError: No 'v' attribute found in ShaderProgram(id=4).
Valid attibutes are: {'colors': Attribute('colors', program=4, location=1, count=4, format=f), 'position': Attribute('position', program=4, location=0, count=3, format=f), 'tex_coords': Attribute('tex_coords', program=4, location=2, count=3, format=f)}

源代码为下

import pyglet
import numpy as np

class ArmEnv(object):
    viewer = None
    dt = 0.1                                # 转动的速度和 dt 有关
    action_bound = [-1, 1]                  # 转动的角度范围
    goal = {'x': 100., 'y': 100., 'l': 40}  # 蓝色 goal 的 x,y 坐标和长度 l
    state_dim = 2                           # 两个观测值 两个角度
    action_dim = 2                          # 两个动作 两个关节

    def __init__(self):
        self.arm_info = np.zeros(
            2, dtype=[('l', np.float32), ('r', np.float32)])
        # 生成出 (2,2) 的矩阵
        self.arm_info['l'] = 100        # 两段手臂都 100 长
        self.arm_info['r'] = np.pi/6    # 两段手臂的端点角度

    def step(self, action):
        done = False
        r = 0.

        # 计算单位时间 dt 内旋转的角度, 将角度限制在360度以内
        action = np.clip(action, *self.action_bound)
        self.arm_info['r'] += action * self.dt
        self.arm_info['r'] %= np.pi * 2  # normalize

        # 我们可以将两截手臂的角度信息当做一个 state (之后会变)
        s = self.arm_info['r']

        # 如果手指接触到蓝色的 goal, 我们判定结束回合 (done)
        # 所以需要计算 finger 的坐标
        (a1l, a2l) = self.arm_info['l']  # radius, arm length
        (a1r, a2r) = self.arm_info['r']  # radian, angle
        a1xy = np.array([200., 200.])  # a1 start (x0, y0)
        a1xy_ = np.array([np.cos(a1r), np.sin(a1r)]) * a1l + a1xy  # a1 end and a2 start (x1, y1)
        finger = np.array([np.cos(a1r + a2r), np.sin(a1r + a2r)]) * a2l + a1xy_  # a2 end (x2, y2)

        # 根据 finger 和 goal 的坐标得出 done and reward
        if self.goal['x'] - self.goal['l'] / 2 < finger[0] < self.goal['x'] + self.goal['l'] / 2:
            if self.goal['y'] - self.goal['l'] / 2 < finger[1] < self.goal['y'] + self.goal['l'] / 2:
                done = True
                r = 1.  # finger 在 goal 以内
        return s, r, done

    def reset(self):
        # reset转角信息
        self.arm_info['r'] = 2 * np.pi * np.random.rand(2)
        return self.arm_info['r']

    def render(self):
        if self.viewer is None:
            self.viewer = Viewer(self.arm_info, self.goal)
        self.viewer.render()

    def sample_action(self):
        return np.random.rand(2)-0.5    # two radians


class Viewer(pyglet.window.Window):
    bar_thc = 5     # 手臂的厚度

    def __init__(self, arm_info, goal):
        # 创建窗口的继承
        # vsync 如果是 True, 按屏幕频率刷新, 反之不按那个频率
        super(Viewer, self).__init__(width=400, height=400, resizable=False, caption='Arm', vsync=False)

        # 窗口背景颜色
        pyglet.gl.glClearColor(1, 1, 1, 1)

        # 添加 arm 信息
        self.arm_info = arm_info
        # 添加窗口中心点, 手臂的根
        self.center_coord = np.array([200, 200])
        # 将手臂的作图信息放入这个 batch
        self.batch = pyglet.graphics.Batch()  # display whole batch at once

        # 蓝色 goal 的信息包括他的 x, y 坐标, goal 的长度 l
        self.point = self.batch.add(
            4, pyglet.gl.GL_QUADS, None,  # 4 corners
            ('v2f', [goal['x'] - goal['l'] / 2, goal['y'] - goal['l'] / 2,
                     goal['x'] - goal['l'] / 2, goal['y'] + goal['l'] / 2,
                     goal['x'] + goal['l'] / 2, goal['y'] + goal['l'] / 2,
                     goal['x'] + goal['l'] / 2, goal['y'] - goal['l'] / 2]),
            ('c3B', (86, 109, 249)*4))  # color

        # 添加一条手臂
        self.arm1 = self.batch.add(
            4, pyglet.gl.GL_QUADS, None,
            ('v2f', [250, 250,              # 同上, 点信息
                     250, 300,
                     260, 300,
                     260, 250]),
            ('c3B', (249, 86, 86) * 4,))    # color

        # 按理添加第二条手臂...
        self.arm2 = self.batch.add(
            4, pyglet.gl.GL_QUADS, None,
            ('v2f', [100, 250,  # 同上, 点信息
                     100, 160,
                     200, 160,
                     200, 150]),
            ('c3B', (249, 86, 86) * 4,))  # color



    def render(self):
        self._update_arm()  # 更新手臂内容 (暂时没有变化)
        self.switch_to()
        self.dispatch_events()
        self.dispatch_event('on_draw')
        self.flip()

    def on_draw(self):
        self.clear()        # 清屏
        self.batch.draw()   # 画上 batch 里面的内容

    def _update_arm(self):
        # 更新手臂的位置信息
        (a1l, a2l) = self.arm_info['l']  # radius, arm length
        (a1r, a2r) = self.arm_info['r']  # radian, angle
        a1xy = self.center_coord  # a1 start (x0, y0)
        a1xy_ = np.array([np.cos(a1r), np.sin(a1r)]) * a1l + a1xy  # a1 end and a2 start (x1, y1)
        a2xy_ = np.array([np.cos(a1r + a2r), np.sin(a1r + a2r)]) * a2l + a1xy_  # a2 end (x2, y2)

        # 第一段手臂的4个点信息
        a1tr, a2tr = np.pi / 2 - self.arm_info['r'][0], np.pi / 2 - self.arm_info['r'].sum()
        xy01 = a1xy + np.array([-np.cos(a1tr), np.sin(a1tr)]) * self.bar_thc
        xy02 = a1xy + np.array([np.cos(a1tr), -np.sin(a1tr)]) * self.bar_thc
        xy11 = a1xy_ + np.array([np.cos(a1tr), -np.sin(a1tr)]) * self.bar_thc
        xy12 = a1xy_ + np.array([-np.cos(a1tr), np.sin(a1tr)]) * self.bar_thc

        # 第二段手臂的4个点信息
        xy11_ = a1xy_ + np.array([np.cos(a2tr), -np.sin(a2tr)]) * self.bar_thc
        xy12_ = a1xy_ + np.array([-np.cos(a2tr), np.sin(a2tr)]) * self.bar_thc
        xy21 = a2xy_ + np.array([-np.cos(a2tr), np.sin(a2tr)]) * self.bar_thc
        xy22 = a2xy_ + np.array([np.cos(a2tr), -np.sin(a2tr)]) * self.bar_thc

        # 将点信息都放入手臂显示中
        self.arm1.vertices = np.concatenate((xy01, xy02, xy11, xy12))
        self.arm2.vertices = np.concatenate((xy11_, xy12_, xy21, xy22))

if __name__ == "__main__":
    env = ArmEnv()
    while True:
        s = env.reset()
        for i in range(40):
            env.render()
            env.step(env.sample_action())

Answer 1

用print(pyglet.version)检查一下pyglet版本，使用1.5.19版本测试题中代码运行正常，无题中的报错信息。尝试更改pyglet版本。
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