SILA P9 can do a baby grand … but its not all about force.

“There are 10’s of thousands of electric motor designs in the world … none of them were suitable for a humanoid robot… “ Musk

To get the humanoids to replace people will require mechanisms/wiring that approach these fantastic reliabilities.

Linear actuation leaves space for wiring at the joint.

Really, it’s better for the cables to be thinner if they have to be flexed.