Merge pull request #321 from Unity-Technologies/fix_sampler_rounding_issue

Categorical parameter fix

Author: mkamalza

com.unity.perception/CHANGELOG.md

@@ -31,6 +31,10 @@ Upgraded capture package dependency to 0.0.10-preview.22 to fix an issue with UR
 ### Fixed
 Fixed keypoint labeling bug when visualizations are disabled.
 
+Fixed an issue where Simulation Delta Time values larger than 100 seconds (in Perception Camera) would cause incorrect capture scheduling behavior.
+
+Fixed an issue where Categorical Parameters sometimes tried to fetch items at `i = categories.Count`, which caused an exception.
+
 ## [0.8.0-preview.3] - 2021-03-24
 ### Changed
 

com.unity.perception/Runtime/Randomization/Parameters/CategoricalParameter.cs

@@ -175,9 +175,13 @@ int BinarySearch(float key) {
         public T Sample()
         {
             var randomValue = m_Sampler.Sample();
-            return uniform
-                ? m_Categories[(int)(randomValue * m_Categories.Count)]
-                : m_Categories[BinarySearch(randomValue)];
+            if (uniform)
+            {
+                var index = (int)(randomValue * m_Categories.Count);
+                index = index == m_Categories.Count ? index - 1 : index;
+                return m_Categories[index];
+            }
+            return m_Categories[BinarySearch(randomValue)];
         }
 
         /// <summary>