We are certainly getting close! In 2010, watching PR2 fold some unseen towels is similar to watching paint dry [1], but we can now enjoy robots attain lazy student-level laundry folding in real-time, as demonstrated by π₀[2].

[1] https://www.youtube.com/watch?v=gy5g33S0Gzo

[2] https://www.physicalintelligence.company/blog/pi0