I think the motivation behind RSA tokens is that while you can steal them, you shouldn't be able to silently copy one. That's not something you get with an OTP on a USB stick, unless you invest into tamper-proof hardware.
Aside from that, I'm not sure why OTPs aren't more commonly used. They're easy to reason about, and while you still need some protocol to use them correctly, it would seem that protocol would be much simpler than for fancy crypto like RSA.
The "some protocol to use them" part is where the crypto in the hardware devices in this attack fell down, which is one of the many reasons people don't use OTPs: they shift all of the security of the system from the cryptographic algorithm itself to the protocol, which is the most error-prone part of the system.
You would need a OTP for every one you wanted to talk to. If I had a OTP for every https site I visit, I'd need hundreds. Facebook would need hundreds of millions. They're not going to be mailing out USB sticks on a weekly basis.
You'd "need" (in the handwaviest sense, because nobody had designed a crypto token based on one-time pads here) OTP content for every authentication attempt.
Until then, one eye always open.