#Vyommitra is a 'half-humanoid', because it has no legs. The crew capsule is only so big as to accommodate an astronaut in a particular position. "In zero-gravity conditions, legs are not relevant. Mobility is not envisaged. But launch posture it can have, and after that it can come to a normal posture," said Dr Sivan.
https://www.news18.com/amp/news/tech/isro-gaganyaan-manned-mission-and-the-vyommitra-humanoid-robot-a-closer-look-2468803.html