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I would love to have more papers about better simulations of robots, especially if there is some data to compare them to the reality!
It has been shown that for many grasping tasks simulations have gotten very realistic. Dynamics is harder and we will probably never get it completely right.
Yes, simulating a position-controlled arm is working well, but even in this case there is often a reality gap (ask @sim2realAIorg !) because of the context models. Things are harder in torque control and harder for dynamics like (walking).
I agree sim2real will be present but robotics research is much more than that. Sample efficient reinforcement learning, unsupervised learning, safety and stability issues are all important. They should be encouraged to thrive in same community
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