use depth in metres

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

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]