Make the demoRecorder write the experience on reset (#3463)

* Make the demoRecorder write the experience on reset

* do nothing if demostore is null

* Calling reset data if the action is null

Author: vincentpierre

com.unity.ml-agents/Runtime/Agent.cs

@@ -278,6 +278,11 @@ void NotifyAgentDone(bool maxStepReached = false)
             // We request a decision so Python knows the Agent is done immediately
             m_Brain?.RequestDecision(m_Info, sensors);
 
+            if (m_Recorder != null && m_Recorder.record && Application.isEditor)
+            {
+                m_Recorder.WriteExperience(m_Info, sensors);
+            }
+
             UpdateRewardStats();
 
             // The Agent is done, so we give it a new episode Id
@@ -799,16 +804,16 @@ void AgentStep()
             if ((m_RequestAction) && (m_Brain != null))
             {
                 m_RequestAction = false;
-                if (m_Action.vectorActions != null)
-                {
-                    AgentAction(m_Action.vectorActions);
-                }
+                AgentAction(m_Action.vectorActions);
             }
         }
 
         void DecideAction()
         {
             m_Action.vectorActions = m_Brain?.DecideAction();
+            if (m_Action.vectorActions == null){
+                ResetData();
+            }
         }
     }
 }

com.unity.ml-agents/Runtime/DemonstrationRecorder.cs

@@ -73,7 +73,7 @@ public static string SanitizeName(string demoName, int maxNameLength)
         /// </summary>
         public void WriteExperience(AgentInfo info, List<ISensor> sensors)
         {
-            m_DemoStore.Record(info, sensors);
+            m_DemoStore?.Record(info, sensors);
         }
 
         public void Close()