Why not buy a second set of arms instead of legs or just a set a wheels?
I think the key is that none of our actual home use cases can be done with just arms. You don't need your folded clothes sitting in front of your washer and dryer, and a set of arms can't handle folding sheets.
And then you want them to put away your dishes, and they can't, even though it's just a software update, because they're across the house. And they're BIG, so you don't have room to store two anyway.
And they were $20,000, so...
https://www.youtube.com/watch?v=rw_8FWJuSho
If we start making robot arms at scale, they're going to get cheap.
I'm also not sure people are really going to want bipedal robots walking around their home, blocking the hallways, recording you in your underwear, etc.
And the arms need cameras too...
That said, I think this is way farther off than anyone thinks. I want to know what the maintenance schedule looks like for robot arms. Looks like a lot of small moving parts. Probably a lot of plastic gears.
In an industrial setting, sure, maintenance is just an expense. But wheels require less maintenance and factories can be designed around the robots.
As I said, maybe earlier in this thread, I've now seen a laundry folding robot work, but I think loading a dishwasher and then putting away dishes is going to come first.