How to convert the Units from centimeters to meters?

Omniverse Isaac Sim
1

I had a robot model extracted from a stage, using Composer, then I imported it into Isaac Sim, but the model was way too big, so I have to scale it down to 0.03 each axis.
Things are fine until I perfrom the follow target task on the robot, the x,y,z value in the cube target position, and the x,y,z of the robot part are not in the same system. They may have the same values but their positions in space are different, if we want to make the robot part stay where the target are, we have to divide the value by 0.03

I think we have 3 options

  • Scale it down to 0.03, then reset the scale to 1 but keep the size and positions
  • Convert the units of the robot from cm to meters to make it smaller
  • Apply a factor of 0.03 to the follow target
    How can I do first 2 ?
2

Was the robot model extracted using NVIDIA Omniverse™ USD Composer? Is it possible to set meters as the world unit there?

3

Hi Vick,
Thank you for your reply. The robot was extracted using USD Composer.
Yes I tried setting meters unit of 1 in both Composer and Isaac Sim, then extracted the robot model. The problem is that, when importing the robot model into Sim, its always so big, no matter I have changed the meter unit or not .

Additional details: the original stage using units of 0.001. I have tried exported the robot with and without changing the units. Both resulted in the same case: the imported robot is so big.