I feel like all shapes and sizes are good. That also includes the potential of humanoid shapes if needed. The design should be based off what it’s meant to do. Humanoid like shapes would be best for things that are involving human interaction, and something that needs a diverse amount of tasks, but those types of shapes would also be the hardest to do and the most expensive. It would make sense to minimize cost and complexity as long as it isn’t making a compromise elsewhere.