[yongelee]

https://www.youtube.com/watch?v=x8Fo2slT2WA

Any 3d software is more than capable of creating perfect physics simulations in real time. I'm not sure what you mean by matching reality but in a physics simulation the only reality that matters is the virtual simulation, which can be done perfectly inside a program.

[PeterisP]

If the mind learns from the simulation that sending output X to the robotic hand will successfully screw a bottle cap on the bottle, but in real life it turns out that the same outputs result in the bottle cap slipping and falling out of the hand, then the simulation was not appropriate.

You can do physics simulations that match some properties of reality that you are modeling. However, for robotics, you would need very detailed simulations of the exact hardware you'd be using, and it is very difficult to simulate the relevant aspects of it, a CAD drawing of the hand isn't enough - when some joint will wiggle slightly or the friction of a 'finger' surface will be different than you'd expect, then it will cause different behavior and the simulation will not match reality.