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There were two reasons.

One is that, frankly, it hardly made sense for the Robinsons to have a crewmember who was actually irredeemable evil; at some point, viewers would have started thinking "Okay, so maybe they're too nice to kill him, but surely they'd at least keep him locked up."

The second is that Smith was originally intended as a "Special Guest Star" character who would show up for a few episodes and then get killed off. Harris, however, wanted to stick around, so he started rewriting the character's lines and tweaking the performance from an evil scheming villain into, as you put it, a "cowardly sissy." It worked: Smith is by far the most memorable human character from the show, and Harris continued to be a "Special Guest Star" for the entire run.

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Q: Why did Jonathan harris lis character Dr. Smith change from an evil villan into a cowardly sissy?
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