Refactor the agent and action planner module to be policies

[20001LastOrder]

Description

Refactor the code to include the policy to an agent. Set the default agent to follow the ReACT flow.

Type of change

• Bug fix (non-breaking change that fixes an issue)
• New feature (non-breaking change that adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• Maintenance
• New release

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• The changes generate no new warnings (or explain any new warnings and why they're ok)
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• Changed code is self-explanatory and/or I added comments
• I updated the documentation (docstrings, /docs)
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