OK, thanks for clarifying.
I certainly agree that a physical robot body is subject to constraints that an emulated body may not be subject to; it is possible to design an emulated body that we are unable to build, or even a body that cannot be built even in principle, or a body that interacts with its environment in ways that can't happen in the real world.
And I similarly agree that physical systems demonstrate relationships, like that between torque and effort, which provide data, and that an emulated body doesn't necessarily demonstrate the same relationships that a robot body does (or even that it can in principle). And those aren't unrelated, of course; it's precisely the constraints on the system that cause certain parts of that system to vary in correlated ways.
And I agree that a robot body is automatically subject to those constraints, whereas if I want to build an emulated software body that is subject to the same constraints that a particular robot body would be subject to, I need to know a lot more.
Of course, a robot body is not subject to the same constraints that a human body is subject to, any more than an emulated software body is; to the extent that a shared ability to understand language depends on a shared set of constraints, rather than on simply having some constraints, a robot can't understand human language until it is physically equivalent to a human. (Similar reasoning tells us that paraplegics don't understand language the same way as people with legs do.)
And if understanding one another's language doesn't depend on a shared set of constraints, such that a human with two legs, a human with no legs, and a not-perfectly-humanlike robot can all communicate with one another, it may turn out that an emulated software body can communicate with all three of them.
The latter seems more likely to me, but ultimately it's an empirical question.
You make a very important point that I would like to emphasize: incommensurate bodies very likely will lead to misunderstanding. It's not just a matter of shared or disjunct body isomorphism. It's also a matter of embodied interaction in a real world.
Let's take the very fundamental function of pointing. Every human language is rife with words called deictics that anchor the flow of utterance to specific pieces of the immediate environment. English examples are words like "this", "that", "near", "far", "soon"...
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