The demo space is so sterile and empty I think we're still a loong ways off from the Coffee test happening. One big thing I see is they don't have to rearrange other items they have nice open bins/drawers/shelves/etc to drop the items into. That kind of multistep planning has been a thorn in independent robotics for decades.
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.