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> now if we could just get the robots to pay social security

It's called “taxing capital” and we can (logically; whether we have the political will is a different question.)

Political will quickly arises if there is loud public demand for it.

That is not true in the US. What happens in the senate has low overlap with what the public wants compared with what donors/lobbyists want.

US economic policy has an almost null correlation with public demand (and interest, really.)