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I think there's a difference here on viable product vs practical product.

The human form is so powerful in a labor setting not because the human form is the absolute best, it's because a person can be autonomous with very little direction. With robots you have to meticulously program them for every single movement and timing, and coordinating the dozens of joints a humanoid robot would have just isn't worth the practical effort. Far cheaper, easier, and faster to build a robot with the exact number of joints you need for the job at hand.