I think their animal forms are "close enough" to provide a disguise in order to blend into their environment and not alert humans in general to their existence or to disturb real wildlife. However, I'm not sure how helpful the animal bots were in a South American jungle scenario - there are no gorillas, cheetahs or rhinoceroses in the wild there.
As to usefulness - a giant falcon can fly rapidly over long distances and lift some objects; a giant gorilla has immense strength and defensive ability; a rhinoceros high speed charging and defensive ability, and a cheetah is capable of high-speed travel on the ground.
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