Difference between Isaac sim and Unity3D


I am planning to use a simulator to test the software and use hardware-in-a-loop architecture where I use my custom hardware to run all the software, getting simulated sensors from the Unity/Isaac and publishing back to the simulation the commands. This way, I can leave the software to run for many weeks without me being present.

If I am not planning to use any gems, what is the difference between Isaac Sim and for example this repo?

Does Isaac SDK impose additional robot characteristics to make the physics more accurate?

Kind regards,

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