Units are set in the Document Properties window, and are saved with the document. Therefore, an Inkscape artist can work in pixels for one document, and in mm in another, without having to switch the document preferences more than once for each document. The Default template uses the px unit. Two other templates, default_mm and default_pt are included in the selection of templates available in the Menu>New command.
The document units set in the Document Preferences window:
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