There are two main ways to try and reach AGI:

AI training robot: expensive, slow, but realistic world
AI training game: faster, less expensive, but possibly non-realistic-enough realistic

Which one of them to take is of of the most important technological questions of humanity according to Ciro Santilli

There is also an intermediate area of research/engineering where people try to first simulate the robot and its world realistically, use the simulation for training, and then transfer the simulated training to real robots, see e.g.: realistic robotics simulation.