My guess is that you don&#x27;t need something perfect to acheive 90% success.  Maybe you switch to real-world physical training for the last 10%, but the first 90% (or whatever) of the neural network training - learning which &#x27;mental&#x27; control corresponds with which &#x27;muscle&#x27;, getting the grip close to the right place with close to the right force, getting an approximation of sensor feedback into the network (with some noise added, perhaps) should get a long way there.  I mean - you can see the terrible simulation they used for that asimo robot neural net training - not anywhere close to a unity simulator.  I did just happen across this: 
<a href="http:&#x2F;&#x2F;gazebosim.org&#x2F;" rel="nofollow">http:&#x2F;&#x2F;gazebosim.org&#x2F;</a>
Which seems like it&#x27;s basically designed for these sorts of things.