Picking up a bundle of loose pipes actually seems like a great benchmark for humanoid robots. Especially if they're not in a perfect pile. A full test could be something like grabbing all the pipes, from the floor, and putting them into a truck bed, in some (hopefully) sane fashion

I have my personal multimodal benchmark for physical robots.

You put a keyring with bunch of different keys in front of a robot and then instruct it pick it up and open a lock while you are describing which key is the correct one. Something like "Use the key with black plastic head and you need to put it in teeths facing down"

I have low hopes of this being possibe in the next 20 years. I hope I am still alive to witness if it ever happens.