Refactor DemonstrationStore/Recorder

[chriselion]

Clean up the DemonstrationStore/DemonstrationRecorder API:

• Agent now maintains a set of DemonstrationStores, and sends it’s AgentInfo and sensors to each of these
• DemonstrationStore’s only public methods are a constructor that takes a Stream and an Initialization method. Users that want to add their own writing logic (e.g. chunking into different files, compression) can add the logic in a custom Stream, make a new DemonstrationStore, and pass to the Agent.
• DemonstrationRecorder basically just makes a file Stream, makes a DemonstrationStore, and passes to the Agent.

Other quality-of-life improvements:

• Default write directory is now "{Application.dataPath}/Demonstrations", but this can be overridden in the DemonstrationRecorder component.
• No longer requires editor mode for recording.

I will rename DemonstrationStore -> DemonstrationWriter in a followup PR; there were too many other changes in this, and I didn't want to complicate the diffs with file moves.

[chriselion]

I can hide this a bit and add AddDemonstrationStore/RemoveDemonstrationStore methods.

[surfnerd]

seems like it would be great if we could just completely remove this demonstration stuff from Agent. It feels like it could happen. But there is no way to hook into Agent at the moment to know when SendInfo is called on a specific one.

[vincentpierre]

We could put this in the policy factory maybe? This way we can wrap the policy in a recording policy that looks for demo recorder components at initialization.

[surfnerd]

Overall the changes look good. If we could remove the demo store stuff from Agent, it feels like that would be ideal. Maybe down the road, we can figure that out.

[vincentpierre]

Why not onDestroy ?

[chriselion]

That's how it was before :) But yeah, sounds like a better place for it.

[chriselion]

If we could remove the demo store stuff from Agent, it feels like that would be ideal.

Open to suggestions on how to do this. Maybe an IPolicy that wraps the "main" IPolicy, and forwards everything to the wrapped IPolicy and also handles the writing?

Anyway, you're happy revisiting this later, right?

[vincentpierre]

👍

[vincentpierre]

We could put this in the policy factory maybe? This way we can wrap the policy in a recording policy that looks for demo recorder components at initialization.