Why humanoid though. I’d want the most efficient design to complete the task at hand. Even if the thing looks like a hybrid of an octopus meets Freddy Krueger
For instance with wheels on the legs (so that the legs are used only for stairs or for stepping over obstacles) and with at least 3 arms. Only 2 arms are frequently insufficient for many tasks, when you do not have a mate to help you.
Do robots really need legs? Wheels seem better.
Given abliterated open models, Stringman is coming for our last remaining job!
I feel like this is nowhere near the case outside of the AI fantasy world.