Can humanoids be trained in simulated/virtual settings, without real world data?

This question came to me as I was reading this article (Tesla has fallen behind BYD in terms of vehicle sales. Not to worry because Tesla is a AI & Robotics company). It says this:

So, either:

1. Tesla has a data advantage for self-driving car, in which case Tesla does not have a data advantage for humanoid robots (unless they have been collecting humanoid robot centric data for the last decade unknown to public knowledge). This means that Tesla will dominate autonomous driving, but there will be aggressive competition for autonomous humanoid robots, with no guarantee that Tesla’s Optimus will come out on top.

OR

1. Humanoid robots can be trained in simulated virtual worlds, in which case self-driving cars can also be trained in a similar manner in theory. In this case Tesla does not have the data advantage.

I am curious if its possible to train humanoid robots exclusively on virtual/simulated worlds like Nvidia's omniverse Isaac Sim - Robotics Simulation and Synthetic Data Generation | NVIDIA Developer