Maybe not human form, but my house is designed for humans. It needs to be able to handle stairs. It needs to handle my doors and halls. It needs to reach upper shelves that are human height (my wife is short and constantly complains about things on a top shelf she cannot reach). I have corners in my house that a large dog can only manage because their spine bends. Human form in many ways is a constraint.
It is ideal insofar as the world has been created with humans in mind. And it’s easier to acquire training data for human shaped entities than for some hypothetical better shape.