Question What does the RayPerceptionSensore3D compocent observe?

Hello
I'm just learning about ML-agent.

Does the "RayPerceptionSensor3D" component observe only tags and positions that have been hit by rays?
Then, is it the same as adding the code below in the "CollectObservation" function?

Code (CSharp):

1. for(int i = 0; i < numOfRays; i++) {
2.     rayHits[i] = Physics.SphereCast(each direction...);
3. }
4.  
5. foreach(RayCastHit rayHit in rayHits) {
6.     sensor.AddObservation(rayHit.collider.tag);
7.     sensor.AddObservation(rayHit.collider.transform.position);
8. }
9.