I suspect that it is built in a human-like shape because the environment it’s designed to work in was constructed for humans.
I would say “oriented to humans”, but at the same time what is made for humans can be used by many animals.
It is a longstanding problem with humanoid robots, basically that most anything a person can do is easier for a person to do; so what you want is a robot that can do things a person can’t do. Complementary function instead of supplementary function.
In this case, they mention that such a robot can see through smoke. Definitely a plus. It should also be resistant to heat and not be damaged by toxic smoke (perhaps self cleaning sensors). And it needs to be able to navigate around or over obstructions, even injured or dead people, water and fluids.
It must be able to carry the means to fight fires, likely also able to activate existing fire suppression equipment not being used but in the area, like fire extinguishers.
And, in a naval application, it needs to be able to open and seal doors.
This stuff adds up pretty quick.