From 12a37607a9ad5eaa031af4e750648a18c03565df Mon Sep 17 00:00:00 2001
From: Abhishek Kadian <abhishekkadiyan@gmail.com>
Date: Thu, 12 Sep 2019 08:43:19 -0700
Subject: [PATCH] use depth in metres
---
habitat/config/default.py | 4 ++--
habitat/sims/pyrobot/pyrobot.py | 2 ++
2 files changed, 4 insertions(+), 2 deletions(-)
diff --git a/habitat/config/default.py b/habitat/config/default.py
index 8ebb727b9..4352f26b1 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 a4b2389a7..78e21d87b 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]
--
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