Exactly, it really depends on the environment. Amazon warehouses and manufacturing facilities are already designed for robots whose form factor is far from human-like. But in the environments where humans operate, it's probably cheaper to design the robot around the human instead of having humans adapt to a robot-centric environment.
It seems like a human-like form the best way forward for robots that will assist in the home -- pretty much everything in the home (including humans themselves) is designed around the human form factor.