SoftBank bought ABB a week or two back, and they're not saying Dual YuMi will be retailing at Walmart everywhere, so I'd say, no, we're not in a need.

We mainly need humanoids to replace jobs with repetitive tasks i.e. harvesting crops or any kind of service related jobs and tasks perofrmed in dangerous environments like mines, disaster zones, war zones etc.

Eventually having a humanoid at home doing the dishes and whatever other tasks we find boring is a byproduct of developing a capable robot for the repetitive and dangerous jobs.