I have a Baxter Research Robot. The theory was that you would make up for the imprecise gear train (backlash at the gripper of 10-20 mm) with visual servoing. But this turns out to be hard. A big limitation is that the gripper-mounted cameras are 30 FPS (less if you try to use both) and add a full frame of delay, so the visual servo loop has to be really slow (like, 1/2 second to zero in on an object). That means it's far less productive at simple operations like loading parts into boxes than humans.

Also, its industrial design is really bad. I hate its hulking arms and smiling animated face. It's surprising that you can ruin an industrial product with ugly visual design, but there you are. For another example, see the Boeing X-32. https://en.wikipedia.org/wiki/Boeing_X-32#/media/File:USAF_X...