I spend maybe 12h a year cleaning the bathroom and the dishwasher is a robot. How is that a market to keep dozens of harmonic drives operational. Unless there is some "post scarcity" there is no way it will be common place.

hence the investment into general purpose robots that can do any humanoid shaped task, the market of which is all physical labour

the same robot that cleans your bathroom can also wash your dishes, fold your clothes, defend your home, fix your gutters, etc

(the bottleneck of which is the brain, aka software)