diff --git a/habitat/config/default.py b/habitat/config/default.py
index 8ebb727b9c5ccbcf967dfe6c6390ce93d2563885..4352f26b16e5b81280f07c4385aec14de36d8e52 100644
--- a/habitat/config/default.py
+++ b/habitat/config/default.py
@@ -186,8 +186,8 @@ _C.PYROBOT.RGB_SENSOR.TYPE = "PyRobotRGBSensor"
 # -----------------------------------------------------------------------------
 _C.PYROBOT.DEPTH_SENSOR = PYROBOT_SENSOR.clone()
 _C.PYROBOT.DEPTH_SENSOR.TYPE = "PyRobotDepthSensor"
-_C.PYROBOT.DEPTH_SENSOR.MIN_DEPTH = 0
-_C.PYROBOT.DEPTH_SENSOR.MAX_DEPTH = 5
+_C.PYROBOT.DEPTH_SENSOR.MIN_DEPTH = 0.0
+_C.PYROBOT.DEPTH_SENSOR.MAX_DEPTH = 5.0
 _C.PYROBOT.DEPTH_SENSOR.NORMALIZE_DEPTH = True
 # -----------------------------------------------------------------------------
 # ACTIONS LOCOBOT
diff --git a/habitat/sims/pyrobot/pyrobot.py b/habitat/sims/pyrobot/pyrobot.py
index a4b2389a7add7a6d756fd760ff8fe0cdf2a5a5d6..78e21d87b6921ee46063b888833957c53d03c45f 100644
--- a/habitat/sims/pyrobot/pyrobot.py
+++ b/habitat/sims/pyrobot/pyrobot.py
@@ -96,6 +96,8 @@ class PyRobotDepthSensor(DepthSensor):
                 ),
             )
 
+        obs = obs / 1000  # convert from mm to m
+
         obs = np.clip(obs, self.config.MIN_DEPTH, self.config.MAX_DEPTH)
         if self.config.NORMALIZE_DEPTH:
             # normalize depth observations to [0, 1]