No we haven't. Back in the 90's Honda's Asimov could barely walk. Now we have robots managing to run marathons. Clothes folding had to be played back at 50x speed because the compute just wasn't there yet. It still is barely there, some of those videos are sped up. They've probably spent way more than 5 years and 10 million dollars developing that robot. Roomba already came out with a mopping robot, why would you want this one to do that?