[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.