Example 3DBall with TaskSensor

com.unity.ml-agents/Runtime/Sensors/VectorSensor.cs

         }
 
         /// <inheritdoc/>
-        public SensorType GetSensorType()
+        public virtual SensorType GetSensorType()
         {
             return SensorType.Observation;
         }

Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBallTask.prefab

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Project/Assets/ML-Agents/Examples/3DBall/Scripts/Task3DAgent.cs

+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgents.Sensors;
+
+public class Task3DAgent : Agent
+{
+    [Header("Specific to Ball3D")]
+    public GameObject ball;
+    Rigidbody m_BallRb;
+    EnvironmentParameters m_ResetParams;
+
+    TaskSensorComponent m_TaskSensor;
+
+    public override void Initialize()
+    {
+        m_BallRb = ball.GetComponent<Rigidbody>();
+        m_ResetParams = Academy.Instance.EnvironmentParameters;
+        SetResetParameters();
+        Debug.Log(m_TaskSensor);
+    }
+
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        sensor.AddObservation(gameObject.transform.rotation.z);
+        sensor.AddObservation(gameObject.transform.rotation.x);
+        sensor.AddObservation(ball.transform.position - gameObject.transform.position);
+        sensor.AddObservation(m_BallRb.velocity);
+        // Example of setting task parameterization to ball x position
+        m_TaskSensor = this.GetComponent<TaskSensorComponent>();
+        m_TaskSensor.AddParameterizaton(ball.transform.position.x);
+    }
+
+    public override void OnActionReceived(float[] vectorAction)
+    {
+        var actionZ = 2f * Mathf.Clamp(vectorAction[0], -1f, 1f);
+        var actionX = 2f * Mathf.Clamp(vectorAction[1], -1f, 1f);
+
+        if ((gameObject.transform.rotation.z < 0.25f && actionZ > 0f) ||
+            (gameObject.transform.rotation.z > -0.25f && actionZ < 0f))
+        {
+            gameObject.transform.Rotate(new Vector3(0, 0, 1), actionZ);
+        }
+
+        if ((gameObject.transform.rotation.x < 0.25f && actionX > 0f) ||
+            (gameObject.transform.rotation.x > -0.25f && actionX < 0f))
+        {
+            gameObject.transform.Rotate(new Vector3(1, 0, 0), actionX);
+        }
+        if ((ball.transform.position.y - gameObject.transform.position.y) < -2f ||
+            Mathf.Abs(ball.transform.position.x - gameObject.transform.position.x) > 3f ||
+            Mathf.Abs(ball.transform.position.z - gameObject.transform.position.z) > 3f)
+        {
+            SetReward(-1f);
+            EndEpisode();
+        }
+        else
+        {
+            SetReward(0.1f);
+        }
+    }
+
+    public override void OnEpisodeBegin()
+    {
+        gameObject.transform.rotation = new Quaternion(0f, 0f, 0f, 0f);
+        gameObject.transform.Rotate(new Vector3(1, 0, 0), Random.Range(-10f, 10f));
+        gameObject.transform.Rotate(new Vector3(0, 0, 1), Random.Range(-10f, 10f));
+        m_BallRb.velocity = new Vector3(0f, 0f, 0f);
+        ball.transform.position = new Vector3(Random.Range(-1.5f, 1.5f), 4f, Random.Range(-1.5f, 1.5f))
+            + gameObject.transform.position;
+        //Reset the parameters when the Agent is reset.
+        SetResetParameters();
+    }
+
+    public override void Heuristic(float[] actionsOut)
+    {
+        actionsOut[0] = -Input.GetAxis("Horizontal");
+        actionsOut[1] = Input.GetAxis("Vertical");
+    }
+
+    public void SetBall()
+    {
+        //Set the attributes of the ball by fetching the information from the academy
+        m_BallRb.mass = m_ResetParams.GetWithDefault("mass", 1.0f);
+        var scale = m_ResetParams.GetWithDefault("scale", 1.0f);
+        ball.transform.localScale = new Vector3(scale, scale, scale);
+    }
+
+    public void SetResetParameters()
+    {
+        SetBall();
+    }
+}

Project/Assets/ML-Agents/Examples/3DBall/Scripts/Task3DAgent.cs.meta

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Project/Assets/ML-Agents/Examples/3DBall/Scripts/TaskSensorComponent.cs

+using Unity.MLAgents.Sensors;
+
+
+public class TaskSensorComponent : SensorComponent
+{
+    public int observationSize;
+    public TaskSensor task_sensor;
+    /// <summary>
+    /// Creates a TaskSensor.
+    /// </summary>
+    /// <returns></returns>
+    public override ISensor CreateSensor()
+    {
+        task_sensor = new TaskSensor(observationSize);
+        return task_sensor;
+    }
+
+    /// <inheritdoc/>
+    public override int[] GetObservationShape()
+    {
+        return new[] { observationSize };
+    }
+
+    public void AddParameterizaton(float parameter)
+    {
+        if(task_sensor != null)
+        {
+            task_sensor.AddObservation(parameter);
+        }
+    }
+}
+
+public class TaskSensor : VectorSensor
+{
+
+    public TaskSensor(int observationSize, string name = null) : base(observationSize)
+    {
+        if (name == null)
+        {
+            name = $"TaskSensor_size{observationSize}";
+        }
+    }
+
+    public override SensorType GetSensorType()
+    {
+        return SensorType.Parameterization;
+    }
+}

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