updated sampler api doc strings

com.unity.perception/Editor/Randomization/ParameterElement.cs

             {
                 addFolderButton.clicked += () =>
                 {
-                    var folderPath = EditorUtility.OpenFolderPanel("Add Options From Folder", Application.dataPath, "Goober");
+                    var folderPath = EditorUtility.OpenFolderPanel(
+                        "Add Options From Folder", Application.dataPath, string.Empty);
                     if (folderPath == string.Empty)
                         return;
                     var categories = LoadAssetsFromFolder(folderPath, categoricalParameter.sampleType);

com.unity.perception/Runtime/Randomization/Samplers/FloatRange.cs

 using System;
+using Unity.Assertions;
+    /// <summary>
+    /// A struct representing a continuous range of values
+    /// </summary>
+        /// <summary>
+        /// The smallest value contained within the range
+        /// </summary>
+
+        /// <summary>
+        /// The largest value contained within the range
+        /// </summary>
+        /// <summary>
+        /// Constructs a float range
+        /// </summary>
+        /// <param name="min">The smallest value contained within the range</param>
+        /// <param name="max">The largest value contained within the range</param>
         public FloatRange(float min, float max)
         {
             minimum = min;
+        /// <summary>
+        /// Assert whether this range is valid
+        /// </summary>
+        /// <exception cref="ArgumentException"></exception>
-            if (minimum > maximum)
-                throw new ArgumentException("Invalid sampling range");
+            Assert.IsTrue(minimum > maximum);
         }
     }
 }

com.unity.perception/Runtime/Randomization/Samplers/IRandomRangedSampler.cs

 namespace UnityEngine.Perception.Randomization.Samplers
 {
+    /// <summary>
+    /// An interface describing bounded random samplers
+    /// </summary>
+        /// <summary>
+        /// The base seed used to initialize this sampler's state
+        /// </summary>
+
+        /// <summary>
+        /// The current random state of this sampler
+        /// </summary>
+
+        /// <summary>
+        /// A range bounding the values generated by this sampler
+        /// </summary>
         FloatRange range { get; set; }
     }
 }

com.unity.perception/Runtime/Randomization/Samplers/ISampler.cs

         /// <summary>
         /// Set the base seed value of this sampler
         /// </summary>
-        /// <param name="seed"></param>
+        /// <param name="seed">The seed that will replace the sampler's current seed</param>
-        /// <param name="batchIndex">
-        /// The current job index
+        /// <param name="offsetIndex">
+        /// The index used to offset the sampler's state.
+        /// Typically set to either the current scenario iteration or a job's batch index.
-        void IterateState(int batchIndex);
+        void IterateState(int offsetIndex);
-        /// Generate one sample
+        /// Generates one sample
+        /// <returns>The generated sample</returns>
-        /// Schedule a job to generate multiple samples
+        /// Schedules a job to generate an array of samples
+        /// <param name="sampleCount">The number of samples to generate</param>
+        /// <param name="jobHandle">The handle of the scheduled job</param>
+        /// <returns>A NativeArray of generated samples</returns>
         NativeArray<float> Samples(int sampleCount, out JobHandle jobHandle);
     }
 }

com.unity.perception/Runtime/Randomization/Samplers/SamplerTypes/ConstantSampler.cs

     [SamplerDisplayName("Constant")]
     public struct ConstantSampler : ISampler
     {
+        /// <summary>
+        /// The value from which samples will be generated
+        /// </summary>
+        /// <summary>
+        /// Constructs a new ConstantSampler
+        /// </summary>
+        /// <param name="value">The value from which samples will be generated</param>
+        /// <summary>
+        /// Resets a sampler's state to its base random seed.
+        /// Note that there is no state to reset for ConstantSamplers.
+        /// </summary>
+        /// <summary>
+        /// Resets a sampler's state to its base random seed and then offsets said seed using an index value.
+        /// Note that ConstantSamplers do not have random states.
+        /// </summary>
+        /// <param name="index">Often a the active scenario's currentIteration</param>
+        /// <summary>
+        /// Set the base seed value of this sampler.
+        /// Note that ConstantSamplers do not have base seeds.
+        /// </summary>
+        /// <param name="seed">The seed that will replace the sampler's current seed</param>
-        public void IterateState(int batchIndex) { }
+        /// <summary>
+        /// Deterministically offsets a sampler's state when generating values within a batched job.
+        /// Note that ConstantSamplers do not have a state to iterate.
+        /// </summary>
+        /// <param name="offsetIndex">
+        /// The index used to offset the sampler's state.
+        /// Typically set to either the current scenario iteration or a job's batch index.
+        /// </param>
+        public void IterateState(int offsetIndex) { }
+        /// <summary>
+        /// Generates one sample
+        /// </summary>
+        /// <returns>The generated sample</returns>
+        /// <summary>
+        /// Schedules a job to generate an array of samples
+        /// </summary>
+        /// <param name="sampleCount">The number of samples to generate</param>
+        /// <param name="jobHandle">The handle of the scheduled job</param>
+        /// <returns>A NativeArray of generated samples</returns>
         public NativeArray<float> Samples(int sampleCount, out JobHandle jobHandle)
         {
             return SamplerUtility.GenerateSamples(this, sampleCount, out jobHandle);

com.unity.perception/Runtime/Randomization/Samplers/SamplerTypes/NormalSampler.cs

     {
         Unity.Mathematics.Random m_Random;
 
+        /// <summary>
+        /// The mean of the normal distribution to sample from
+        /// </summary>
+
+        /// <summary>
+        /// The standard deviation of the normal distribution to sample from
+        /// </summary>
+        /// <summary>
+        /// The base seed used to initialize this sampler's state
+        /// </summary>
-        [field: SerializeField]
-        public FloatRange range { get; set; }
-
+        /// <summary>
+        /// The current random state of this sampler
+        /// </summary>
         public uint state
         {
             get => m_Random.state;
-        public NormalSampler(float min, float max, float mean, float standardDeviation, uint seed=SamplerUtility.largePrime)
+        /// <summary>
+        /// A range bounding the values generated by this sampler
+        /// </summary>
+        [field: SerializeField]
+        public FloatRange range { get; set; }
+
+        /// <summary>
+        /// Constructs a normal distribution sampler
+        /// </summary>
+        /// <param name="min">The smallest value contained within the range</param>
+        /// <param name="max">The largest value contained within the range</param>
+        /// <param name="mean">The mean of the normal distribution to sample from</param>
+        /// <param name="standardDeviation">The standard deviation of the normal distribution to sample from</param>
+        /// <param name="baseSeed">The base random seed to use for this sampler</param>
+        public NormalSampler(
+            float min, float max, float mean, float standardDeviation, uint baseSeed=SamplerUtility.largePrime)
-            baseSeed = seed;
+            this.baseSeed = baseSeed;
+        /// <summary>
+        /// Resets a sampler's state to its base random seed
+        /// </summary>
+        /// <summary>
+        /// Resets a sampler's state to its base random seed and then offsets said seed using an index value
+        /// </summary>
+        /// <param name="index">Often a the active scenario's currentIteration</param>
         public void ResetState(int index)
         {
             ResetState();
+        /// <summary>
+        /// Set the base seed value of this sampler
+        /// </summary>
+        /// <param name="seed">The seed that will replace the sampler's current seed</param>
-        public void IterateState(int batchIndex)
+        /// <summary>
+        /// Deterministically offsets a sampler's state when generating values within a batched job
+        /// </summary>
+        /// <param name="offsetIndex">
+        /// The index used to offset the sampler's state.
+        /// Typically set to either the current scenario iteration or a job's batch index.
+        /// </param>
+        public void IterateState(int offsetIndex)
-            state = SamplerUtility.IterateSeed((uint)batchIndex, state);
+            state = SamplerUtility.IterateSeed((uint)offsetIndex, state);
+        /// <summary>
+        /// Generates one sample
+        /// </summary>
+        /// <returns>The generated sample</returns>
         public float Sample()
         {
             return SamplerUtility.TruncatedNormalSample(
+        /// <summary>
+        /// Schedules a job to generate an array of samples
+        /// </summary>
+        /// <param name="sampleCount">The number of samples to generate</param>
+        /// <param name="jobHandle">The handle of the scheduled job</param>
+        /// <returns>A NativeArray of generated samples</returns>
         public NativeArray<float> Samples(int sampleCount, out JobHandle jobHandle)
         {
             var samples = SamplerUtility.GenerateSamples(this, sampleCount, out jobHandle);

com.unity.perception/Runtime/Randomization/Samplers/SamplerTypes/UniformSampler.cs

     {
         Unity.Mathematics.Random m_Random;
 
-        [field: SerializeField]
-        public FloatRange range { get; set; }
-
+        /// <summary>
+        /// The base seed used to initialize this sampler's state
+        /// </summary>
+        /// <summary>
+        /// The current random state of this sampler
+        /// </summary>
         public uint state
         {
             get => m_Random.state;
-        public UniformSampler(float min, float max, uint seed=SamplerUtility.largePrime)
+        /// <summary>
+        /// A range bounding the values generated by this sampler
+        /// </summary>
+        [field: SerializeField]
+        public FloatRange range { get; set; }
+
+        /// <summary>
+        /// Constructs a new uniform distribution sampler
+        /// </summary>
+        /// <param name="min">The smallest value contained within the range</param>
+        /// <param name="max">The largest value contained within the range</param>
+        /// <param name="baseSeed">The base random seed to use for this sampler</param>
+        public UniformSampler(float min, float max, uint baseSeed=SamplerUtility.largePrime)
-            baseSeed = seed;
+            this.baseSeed = baseSeed;
+        /// <summary>
+        /// Resets a sampler's state to its base random seed
+        /// </summary>
+        /// <summary>
+        /// Resets a sampler's state to its base random seed and then offsets said seed using an index value
+        /// </summary>
+        /// <param name="index">Often a the active scenario's currentIteration</param>
         public void ResetState(int index)
         {
             ResetState();
+        /// <summary>
+        /// Set the base seed value of this sampler
+        /// </summary>
+        /// <param name="seed">The seed that will replace the sampler's current seed</param>
-        public void IterateState(int batchIndex)
+        /// <summary>
+        /// Deterministically offsets a sampler's state when generating values within a batched job
+        /// </summary>
+        /// <param name="offsetIndex">
+        /// The index used to offset the sampler's state.
+        /// Typically set to either the current scenario iteration or a job's batch index.
+        /// </param>
+        public void IterateState(int offsetIndex)
-            state = SamplerUtility.IterateSeed((uint)batchIndex, state);
+            state = SamplerUtility.IterateSeed((uint)offsetIndex, state);
+        /// <summary>
+        /// Generates one sample
+        /// </summary>
+        /// <returns>The generated sample</returns>
+        /// <summary>
+        /// Schedules a job to generate an array of samples
+        /// </summary>
+        /// <param name="sampleCount">The number of samples to generate</param>
+        /// <param name="jobHandle">The handle of the scheduled job</param>
+        /// <returns>A NativeArray of generated samples</returns>
         public NativeArray<float> Samples(int sampleCount, out JobHandle jobHandle)
         {
             var samples = SamplerUtility.GenerateSamples(this, sampleCount, out jobHandle);

com.unity.perception/Runtime/Randomization/Samplers/SamplerUtility.cs

 
 namespace UnityEngine.Perception.Randomization.Samplers
 {
+    /// <summary>
+    /// A set of utility functions for defining sampler interfaces
+    /// </summary>
     public static class SamplerUtility
     {
         internal const uint largePrime = 0x202A96CF;

com.unity.perception/Runtime/Randomization/Scenarios/FixedLengthScenario.cs

 namespace UnityEngine.Perception.Randomization.Scenarios
 {
     /// <summary>
-    /// An example scenario where each scenario iteration runs for exactly one frame
+    /// A scenario that runs for a fixed number of frames during each iteration
+        /// <summary>
+        /// Constants describing the execution of this scenario
+        /// </summary>
+            /// <summary>
+            /// The number of frames to generate per iteration
+            /// </summary>
+
+            /// <summary>
+            /// The iteration index begin the simulation on
+            /// </summary>
+
+            /// <summary>
+            /// The total number of iterations to complete before the simulation terminates
+            /// </summary>
+        /// <summary>
+        /// Returns whether the current scenario iteration has completed
+        /// </summary>
+        /// <summary>
+        /// Returns whether the scenario has completed
+        /// </summary>
+        /// <summary>
+        /// Called before the scenario begins iterating
+        /// </summary>
         public override void OnInitialize()
         {
             currentIteration = constants.startingIteration;

com.unity.perception/Runtime/Randomization/Scenarios/Scenario.cs

 
 namespace UnityEngine.Perception.Randomization.Scenarios
 {
+    /// <summary>
+    /// The base class of scenarios with serializable constants
+    /// </summary>
+    /// <typeparam name="T">The type of constants to serialize</typeparam>
+        /// <summary>
+        /// A construct containing serializable constants that control the execution of this scenario
+        /// </summary>
-        public override string OnSerialize()
-        {
-            return JsonUtility.ToJson(constants, true);
-        }
-
-        public override void OnDeserialize(string json)
-        {
-            constants = JsonUtility.FromJson<T>(json);
-        }
-
+        /// <summary>
+        /// Serializes this scenario's constants to a json file in the Unity StreamingAssets folder
+        /// </summary>
-                writer.Write(OnSerialize());
+                writer.Write(JsonUtility.ToJson(constants, true));
+        /// <summary>
+        /// Deserializes this scenario's constants from a json file in the Unity StreamingAssets folder
+        /// </summary>
+        /// <exception cref="ScenarioException"></exception>
-            OnDeserialize(jsonText);
+            constants = JsonUtility.FromJson<T>(jsonText);
         }
     }
 }

com.unity.perception/Runtime/Randomization/Scenarios/ScenarioBase.cs

 
 namespace UnityEngine.Perception.Randomization.Scenarios
 {
+    /// <summary>
+    /// The base class of all scenario classes
+    /// </summary>
+
+        /// <summary>
+        /// If true, this scenario will quit the Unity application when it's finished executing
+        /// </summary>
+
+        /// <summary>
+        /// When true, this scenario will deserializes constants from a Json file before it begins executing
+        /// </summary>
+
+        /// <summary>
+        /// The name of the Json file this scenario's constants are serialized to/from.
+        /// </summary>
         [HideInInspector] public string serializedConstantsFileName = "constants";
 
         /// <summary>
         /// Called when the scenario has finished iterating
         /// </summary>
         public virtual void OnComplete() { }
-
-        /// <summary>
-        /// To be overriden in derived Scenario classes
-        /// </summary>
-        public abstract string OnSerialize();
-
-        /// <summary>
-        /// To be overriden in derived Scenario classes
-        /// </summary>
-        public abstract void OnDeserialize(string json);
 
         /// <summary>
         /// Serializes the scenario's constants to a JSON file located at serializedConstantsFilePath