[throwaway4aday]

1. Batteries with enough amp hours capacity in a small enough size are still many decades if not a hundred years out.

2. Motors and actuators have to get a lot more powerful and a lot smaller, also decades out.

3. Pressure sensors need a lot of work and miniaturization.

4. The AI needed to make it all work needs a shitload of data consisting of real world interactions using the above hardware so we will need to spend a long time training these robots but even after we have a working model the hardware required to run it might not fit in the robot itself so we'll have to solve the network problems with transmitting all the sensory data and individual commands for all the micro-actuators.

This is all assuming you want a robot with human level dexterity, speed and abilities. Clumsier ones that can't do all the jobs that humans can will obviously arrive sooner but that doesn't solve the problem of eliminating all manual labour.