That plan sounds viable until you consider how much noncompliant legacy hardware is out there that can't all be replaced but must be repaired, like cars, roofs, appliances, HVAC, electrical, plumbing, etc. If robots can't accommodate the huge fraction of old infrastructure already in place, they'll have limited value indeed -- basically just working on assembly lines in factories.
In New Zealand there are rules, and more extensive guidelines, on "disabled access". (Probably called something different now)
But it means that access to publicly accessible places is possible for a wide variety of disabilities
I wonder if that would help robotic access? For example you do not need to grip and turn a knob to open a door, they should all be levers.