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Whilst in theory, yes, in reality no.
The tester is not allowed to disassemble any part of the car so can only go on what he can see. On many cars it is simply impossible to see what "meat" is left on pads nor what condition the discs are in. Corrosion alone probably wouldn't constitute a fail.
So practically, the MoT should only be regarded as a test of whether the brakes perform to a minimum standard on the brake rollers. Nothing else.
If you know your discs and pads are in poor order for some reason, you should have them changed. You are responsible for maintaining your car in a roadworthy condition.
I have had a pair of discs fail an MoT due to condition, but only because the car had open 5 spoke alloys and the discs could easily be seen. Had the car been fited with steel wheels and trims the outcome would have been different.
BTW: 3mm should be regarded as the minimum working thickness of friction material. Below this the chemistry of the material changes so that it is suitable for fixing to the backplate by adhesive. Once you wear into this "interlayer" the braking performance drops off dramatically and will add considerable distance to an emergency stop.
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