Curiosity of Isaac Sim Physics Accuracy

[zoctipus]

I am curious of Isaac Sim's PhysX Physics Accuracy, I have done some research but couldn't find many answer. Many comment online (especially earlier) says that PhysX is a game engine is optimized for speed not suitable for high fidelity physics simulation. In the same time, I am also hearing that Isaac Sim is moving into robotic field and increased physical accuracy and updating PhysX5’s physic calculation datatype precision and solver. People skeptical about sim to real often ask how realistic is the simulator, I wonder, for you who is experienced worked with isaac sim and real robot, what would you say about it?