Soft robotics is a bit overhyped. So the two big things that make soft robots interesting right now are the ability not to hurt people if the controller messes

Soft robotics is a bit overhyped. So the two big things that make soft robots interesting right now are the ability not to hurt people if the controller messes up and the ability to squeeze through cracks. If controllers become sufficiently reliable then we lose the first justification. The second is mostly of interest to the military. There are very good reason to have rigid robots. With higher stiffness one can obtain higher precision and operating speed. The resonant frequency of a robot is proportional to the stiffness of said robot. Higher resonant frequencies imply high operating frequencies and more precision. Not to mention, most animals, especially land animals, are not entirely soft.