Firstly, there's a pretty high bar to meet in that we are pretty heavily programmed to recognize human beings. Any little bit off of what we expect in facial movements or body language and we start to get perturbed.

Secondly, why program a human when you can program a robot that is function fit for its individual task? We don't really have a use for robots that can adapt and survive and make tools for use in multiple environments, we tend to use robots for very specific work and just make new types of robots better specialized for new environments.

It gets exponentially more expensive with every new function and situation you program a single robot to handle.

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TL:DR; Lack of will, lack of use-case, lack of ability.