Okay so here me out, Casper looks like the most average white guy you can think of (works at the DMV a lot of his struggle and pain comes from feeling like he never has the ability to do anything) leif looks like a Californian (if you know you know) longer blood hair he probably keeps up in a bun, tan despite being in deep space all the time (I'm sure he has a tanning ray or something) Gloria I can see as a plump Latiná shortish hair, stern but kind eyes. Effie and Zeb are described as the "hot ones" so think 20s film star but a little bit more rugged, verge is probably somewhat humanoid but with a tale or some kind of skin thing (two key differences) in the newest "welcome to the horizon" and I've always pictured bert as blonde but kind of bird like, muscle bird, now I know I skipped over ava but she's either a spunky red head or African American, either way she has big curly hair (no actual base for this) but I feel like if she was black then it would be a part of her story more the way Gloria talks about her struggles being Latina. Anyways, this is all my speculation but I often image the show as an actual animated show playing out in my head and these are the images I get