Humanoids intermingled with western society

 Is there any particular reason why humanoids are not commonplace within our society? Is it because they are a new technology and we have yet to place them and accept their place in society? Or is it because we feel that the humanoids currently lack intelligence and capability and therefore would not be of sufficient use to us? Is it because humans do not want rival-like objects in circulation potentially confusing or interfering with our human lives?

What would a world with intermingled humanoids look and feel like? One positive implementation would comprise of humanoid helpers carrying stuff, helping people find things, providing prompt medical assistance, guarding people’s possessions, caring for vulnerable people, maintaining , cleaning and tidying in any environment.

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