When appending only once or once every now and again, using np.append on your array should be fine. The drawback of this approach is that memory is allocated for a completely new array every time it is called. When growing an array for a significant amount of samples it would be better to either pre-allocate the array (if the total size is known) or to append to a list and convert to an array afterward.

Using np.append:

b = np.array([0])
for k in range(int(10e4)):
    b = np.append(b, k)
1.2 s ± 16.1 ms per loop (mean ± std. dev. of 7 runs, 1 loop each)

Using python list converting to array afterward:

d = [0]
for k in range(int(10e4)):
    d.append(k)
f = np.array(d)
13.5 ms ± 277 µs per loop (mean ± std. dev. of 7 runs, 100 loops each)

Pre-allocating numpy array:

e = np.zeros((n,))
for k in range(n):
    e[k] = k
9.92 ms ± 752 µs per loop (mean ± std. dev. of 7 runs, 100 loops each)

When the final size is unkown pre-allocating is difficult, I tried pre-allocating in chunks of 50 but it did not come close to using a list.

85.1 ms ± 561 µs per loop (mean ± std. dev. of 7 runs, 10 loops each)