1 to 1 Brain to Agent (#2729)

* 1 to 1 Brain to Agent
This is a work in progess
In this PR :
 - Deleted all Brain Objects
 - Moved the BrainParameters into the Agent
 - Gave the Agent a Heuristic method (see Balance Ball for example)
 - Modified the Communicator and ModelRunner : Put can only take one agent at a time
 - Made the IBrain Interface with RequestDecision and DecideAction method

No changes made to Python
[Design Doc](https://docs.google.com/document/d/1hBhBxZ9lepGF4H6fc6Hu6AW7UwOmnyX3trmgI3HpOmo/edit#)

* Removing editorconfig

* Updating BallanceBall scene

* grammar mistake

* Clearing the Agents of the Model runner

* Added Documentation on IBrain

* Modified comments on GiveModel

* Introduced a factory

* Split Learning Brain in two

* Changes to walljump

* Fixing the Unit tests

* Renaming the Brain to Policy

* Heuristic now has priority over training

* Edited code comments

* Fixing bugs

* Develop one to one scene edits (#2744)

* Delting all brains, setting Behavior Parameters

* Removing learning from all the configs

* Forgot one agent

* Removing leftover brains

* Dead meta file

* Adding Heuristics

* Moving the policies in a separate folder

* Missing meta file

* Develop one to one with component (#2753)

* Made Policy Factory a component

* Broke the Heuristic

* fix bug

* BugFix

* Reimplemented Heuristic

* Changing all of the prefabs

* forgotten file

* Fixing under which conditions the Heuristic policy is used

* Dispose of brain

* Removing references to Brain in the Academy comments;

* Develop one to one documentation (#2742)

* initial changes to the documentation

* More documentation changes, not done.

* More documentation changes

* More docs

* Changed the images

* addressing comments

* Adding one line to the migrating doc

* Removing warning in the Agent Inspector when Vis Obs is used

* Fixing C# unit tests

Author: vincentpierre

UnitySDK/Assets/Gizmos/HeuristicBrain Icon.png

@@ -1,12 +1,12 @@
 using UnityEngine;
 using UnityEditor;
+using Barracuda;
 
 namespace MLAgents
 {
-/*
- This code is meant to modify the behavior of the inspector on Brain Components.
- Depending on the type of brain that is used, the available fields will be modified in the inspector accordingly.
-*/
+    /*
+     This code is meant to modify the behavior of the inspector on Agent Components.
+    */
     [CustomEditor(typeof(Agent), true)]
     [CanEditMultipleObjects]
     public class AgentEditor : Editor
@@ -16,7 +16,6 @@ public override void OnInspectorGUI()
             var serializedAgent = serializedObject;
             serializedAgent.Update();
 
-            var brain = serializedAgent.FindProperty("brain");
             var actionsPerDecision = serializedAgent.FindProperty(
                 "agentParameters.numberOfActionsBetweenDecisions");
             var maxSteps = serializedAgent.FindProperty(
@@ -26,7 +25,6 @@ public override void OnInspectorGUI()
             var isOdd = serializedAgent.FindProperty(
                 "agentParameters.onDemandDecision");
 
-            EditorGUILayout.PropertyField(brain);
 
 
             EditorGUILayout.PropertyField(

UnitySDK/Assets/Gizmos/HeuristicBrain Icon.png.meta

@@ -0,0 +1,78 @@
+using UnityEngine;
+using UnityEditor;
+using Barracuda;
+
+namespace MLAgents
+{
+    /*
+     This code is meant to modify the behavior of the inspector on Agent Components.
+    */
+    [CustomEditor(typeof(BehaviorParameters))]
+    [CanEditMultipleObjects]
+    public class BehaviorParametersEditor : Editor
+    {
+        private const float k_TimeBetweenModelReloads = 2f;
+        // Time since the last reload of the model
+        private float m_TimeSinceModelReload;
+        // Whether or not the model needs to be reloaded
+        private bool m_RequireReload;
+
+        public override void OnInspectorGUI()
+        {
+            var serializedObject = base.serializedObject;
+            serializedObject.Update();
+
+            // Drawing the Behavior Parameters
+            EditorGUI.BeginChangeCheck();
+            EditorGUI.indentLevel++;
+            EditorGUILayout.PropertyField(serializedObject.FindProperty("m_BehaviorName"));
+            EditorGUILayout.PropertyField(serializedObject.FindProperty("m_BrainParameters"), true);
+            EditorGUILayout.PropertyField(serializedObject.FindProperty("m_Model"), true);
+            EditorGUI.indentLevel++;
+            EditorGUILayout.PropertyField(serializedObject.FindProperty("m_InferenceDevice"), true);
+            EditorGUI.indentLevel--;
+            EditorGUILayout.PropertyField(serializedObject.FindProperty("m_UseHeuristic"));
+            // EditorGUILayout.PropertyField(serializedObject.FindProperty("m_Heuristic"), true);
+            EditorGUI.indentLevel--;
+            if (EditorGUI.EndChangeCheck())
+            {
+                m_RequireReload = true;
+            }
+            DisplayFailedModelChecks();
+            serializedObject.ApplyModifiedProperties();
+        }
+
+        /// <summary>
+        /// Must be called within OnEditorGUI()
+        /// </summary>
+        private void DisplayFailedModelChecks()
+        {
+            if (m_RequireReload && m_TimeSinceModelReload > k_TimeBetweenModelReloads)
+            {
+                m_RequireReload = false;
+                m_TimeSinceModelReload = 0;
+            }
+            // Display all failed checks
+            D.logEnabled = false;
+            Model barracudaModel = null;
+            var model = (NNModel)serializedObject.FindProperty("m_Model").objectReferenceValue;
+            var brainParameters = ((BehaviorParameters)target).brainParameters;
+            if (model != null)
+            {
+                barracudaModel = ModelLoader.Load(model.Value);
+            }
+            if (brainParameters != null)
+            {
+                var failedChecks = InferenceBrain.BarracudaModelParamLoader.CheckModel(
+                    barracudaModel, brainParameters);
+                foreach (var check in failedChecks)
+                {
+                    if (check != null)
+                    {
+                        EditorGUILayout.HelpBox(check, MessageType.Warning);
+                    }
+                }
+            }
+        }
+    }
+}