I'm starting from the assumption the vast majority of people won't want a robot in their home, even just on principle. Then most people will not need it to do every possible action an human does.

For the remaining people in the target, having adapted/compatible cabinets or furniture is probably less of an issue. If someone requires assistance for instance, they'll probably also don't want hard to access shelves or crazy weird stairs.

The same way people have started choosing furniture that can accommodate a roomba(RIP irobot), we'll adjust our newer homes to whatever makes sense when we get the next wave of home robots.