It wasn't obvious for a long time, but the closest we have to a relevant experiment* shows that physical contact is also necessary for parenting, especially soft contact: https://en.wikipedia.org/wiki/Harry_Harlow

Humanoid robots are improving, so I won't say "never", but I will say "not yet". Not in isolation at least.

* and likely the closest we ever will, because it was disturbing enough to a big influence on animal welfare movement