A generation-specific record of Tesla’s Gen 2 presentation. Earlier prototype targets, Gen 3 changes and later unversioned demonstrations are outside this profile.
Original H1, excluding H1-2. The joint specification describes the manufacturer’s basic model without dexterous hands; it does not describe every shipped H1.
The T1 manual’s 23-DoF configuration with four degrees of freedom per arm. Hardware revision unspecified; expanded-arm configurations and the separately mentioned 7-DoF version are excluded.
Start with a question, inspect the selected claims, then see what evidence is still needed.
What do the published heights tell us?
Three scoped records describe body height. They do not establish a clearance or reach requirement.
Why? Inspect the evidence: What do the published heights tell us?
G1 standard, original H1 and the T1 23-DoF configuration have height claims. H1 is approximate and lacks a measured posture protocol; Optimus Gen 2 has no approved height here.
Unitree G1
Standing height: 1.32 m. Standard configuration; hardware revision unspecified.
Unitree states an approximate body height of 1.8 m for the original H1. Upright body dimensions, not a measured posture protocol. Keep the approximation; do not replace it with a falsely exact sum from the separate dimensions row. Excludes H1-2.
Booster states an upright height of 1.18 m for the T1 manual’s 23-DoF configuration with four-DoF arms. Hardware revision and measurement protocol are unspecified; exclude expanded-arm variants.
Evidence needed next: Total mass for each exact configuration, with battery inclusion and equivalent weighing conditions. H1 and T1 battery-inclusive mass remains unknown.
Which robot walks faster?
There are no comparable absolute walking speeds in this edition.
Why? Inspect the evidence: Which robot walks faster?
A relative speed increase does not give an absolute speed. None of these four records establishes a comparable absolute walking-speed measurement.
Tesla Optimus Gen 2
Claimed walking speed increase of 30%. The comparator, baseline speed and test conditions are unspecified; this is not an absolute speed or independent test result.
Evidence needed next: Absolute speeds for the exact configurations, with terrain, load and measurement conditions. A repeatable independent test would be stronger evidence.
Do more degrees of freedom mean better manipulation?
These counts do not establish a dexterity ranking.
Why? Inspect the evidence: Do more degrees of freedom mean better manipulation?
G1, basic H1 and T1 describe total joint degrees of freedom for different mechanical configurations; Optimus describes one hand. Even equal whole-body totals do not establish equal dexterity.
Unitree G1
23 total joint degrees of freedom. Standard configuration only.
The manufacturer basic H1 model without dexterous hands has 19 joint degrees of freedom: the README joint count is supported by 19 non-fixed single-axis revolute joints in the same pinned model. This is a model/configuration specification, not a performance result or every shipped H1.
Booster states 23 total joint degrees of freedom for T1 with four per arm, six per leg, one waist and two head DoFs. Excludes expanded-arm configurations and the separately mentioned 7-DoF version; a larger count is not evidence of better task performance.
11 degrees of freedom for the presented hand design. This is not the total for the robot or both hands, and does not establish manipulation performance.
Evidence needed next: The distribution and actuation of joints for each exact configuration, plus a defined manipulation task with repeatable test conditions and results.
No approved claim for this field. This does not establish that the robot lacks the feature.
Unitree states an approximate body height of 1.8 m for the original H1. Upright body dimensions, not a measured posture protocol. Keep the approximation; do not replace it with a falsely exact sum from the separate dimensions row. Excludes H1-2.
Manufacturer claim · Not independently verified
Evidence & conditions for Unitree H1: Standing height
Original expression
Height about 180CM (cm)
Context
Original H1 body height, approximate manufacturer figure. Product illustration and parameter dimensions concern upright body size; the panel does not specify a measured posture protocol. No inference that optional hands change height. Excludes H1-2. Hardware revision and effective dates unknown.
Method
180 cm / 100 = 1.8 m; retain approximation. Do not replace the rounded body-height claim with a falsely exact 1.805 m derived from the separate dimensions row.
Claimant
Unitree Robotics
Source location
Unitree H1 → Body Size Value → Height; original H1 panel, before the separately labeled H1-2 panel. See also Unitree H1 Parameter → H1 → Key Dimensions.
Booster states an upright height of 1.18 m for the T1 manual’s 23-DoF configuration with four-DoF arms. Hardware revision and measurement protocol are unspecified; exclude expanded-arm variants.
Manufacturer claim · Not independently verified
Evidence & conditions for Booster T1: Standing height
Original expression
1.18m (m)
Context
T1 manual’s 23-DoF mechanical configuration with four-DoF arms. Upright posture explicit; measurement protocol and hardware revision unknown. Basic/Standard controller names do not define separate height claims here. Expanded-arm variants excluded.
Method
Identity conversion from m. Preserve stated precision; no independent measurement or universal applicability to every delivered T1 is asserted.
No approved claim for this field. This does not establish that the robot lacks the feature.
The manufacturer basic H1 model without dexterous hands has 19 joint degrees of freedom: the README joint count is supported by 19 non-fixed single-axis revolute joints in the same pinned model. This is a model/configuration specification, not a performance result or every shipped H1.
Manufacturer claim · Not independently verified
Evidence & conditions for Unitree H1: Total joint degrees of freedom
Original expression
Basic H1 Humanoid have 19 joints (count)
Context
Basic original H1 without dexterous hands. Manufacturer model joint count: five per leg, four per arm and one torso. It is not a hand count, H1-2 count, performance score or independent measurement; optional hand/expanded-arm hardware excluded.
Method
Interpreted as modeled joint degrees of freedom because the separately retained unitree-h1-urdf-20261018 capture parses 19 non-fixed joints, all single-axis revolute, at the same pinned commit. Fixed mounts are not counted. Both captures have the same manufacturer origin; not independent corroboration.
Claimant
Unitree Robotics
Source location
Overview → basic H1 joint count and complete joint tree; linked urdf/h1.urdf, same pinned commit, corroborates the single-axis joint type.
Booster states 23 total joint degrees of freedom for T1 with four per arm, six per leg, one waist and two head DoFs. Excludes expanded-arm configurations and the separately mentioned 7-DoF version; a larger count is not evidence of better task performance.
Manufacturer claim · Not independently verified
Evidence & conditions for Booster T1: Total joint degrees of freedom
Original expression
23 (count)
Context
T1 mechanical configuration: four DoFs per arm, six per leg, one waist and two head DoFs. Excludes expanded-arm configurations and the separately mentioned 7-DoF version and other products. Does not establish dexterity, actuator strength or task performance.
Method
Manufacturer total retained unchanged. Composition and IDs were checked for scope consistency, not used to infer a larger optional configuration. Documentation remains one manufacturer origin.
Claimant
Booster Robotics
Source location
T1 Product Manual → Specifications → Product Specifications → DoFs → Total DoFs; Joint ID and limits lists IDs 0 through 22.
Advertised battery duration with retained test conditions or explicit absence of conditions. Not independently measured runtime under load.
Advertised battery runtime: approximately 2 h. Test conditions, load and duty cycle not specified.
Manufacturer claim · Not independently verified
Evidence & conditions for Unitree G1: Advertised battery life
Original expression
About 2h (h)
Context
G1 column; advertised duration. Duty cycle, load, gait and environmental test conditions are not disclosed in this table. No independently measured runtime claim.
Method
2 h × 3600 = 7200 s; approximate qualifier retained; no precision upgrade.
No approved claim for this field. This does not establish that the robot lacks the feature.
Unknown in this record
No approved claim for this field. This does not establish that the robot lacks the feature.
Unknown in this record
No approved claim for this field. This does not establish that the robot lacks the feature.
Advertised starting price (USD)Meaning of this field
Source explicitly denominated USD starting price. Retain market, configuration, tax/shipping scope and date. Not delivered system cost; no FX conversion.
Starting price: from USD 13,500, excluding tax and shipping. No availability promise or delivered-price claim.
Manufacturer claim · Not independently verified
Dated price, not a current offer. Reconfirm configuration, tax, shipping and availability before budgeting.
Evidence & conditions for Unitree G1: Advertised starting price (USD)
Original expression
US $13.5K (USD)
Context
G1 standard column; USD-denominated advertised starting price, tax/shipping excluded. Geographic purchase eligibility, stock and delivered configuration terms are not established; not an availability claim.
No approved claim for this field. This does not establish that the robot lacks the feature.
Unknown in this record
No approved claim for this field. This does not establish that the robot lacks the feature.
Unknown in this record
No approved claim for this field. This does not establish that the robot lacks the feature.
Design & sensing
Descriptions of specific hardware. A degree-of-freedom count or sensor claim alone does not establish dexterity, balance or task autonomy.
Scroll the table sideways to compare all four configurations. With a keyboard, focus the table region and use the arrow keys.
Design & sensing: Unitree G1, Standard configuration; Tesla Optimus Gen 2, December 2023 presentation; Unitree H1, Original H1 · basic model; Booster T1, 23-DoF configuration · four-DoF arms
Reviewed field
Unitree G1Standard configuration
Tesla Optimus Gen 2December 2023 presentation
Unitree H1Original H1 · basic model
Booster T123-DoF configuration · four-DoF arms
Hand degrees of freedomMeaning of this field
Explicitly stated degrees of freedom for one hand design of an identified generation. Not a whole-body total, finger count or independently measured dexterity.
Unknown in this record
No approved claim for this field. This does not establish that the robot lacks the feature.
11 degrees of freedom for the presented hand design. This is not the total for the robot or both hands, and does not establish manipulation performance.
Manufacturer claim · Not independently verified
Evidence & conditions for Tesla Optimus Gen 2: Hand degrees of freedom
Original expression
11-DoF (count)
Context
The overlay describes the hand design. Recorded for one hand, not the sum of both hands or total robot freedom. No dexterity test is inferred.
No approved claim for this field. This does not establish that the robot lacks the feature.
Unknown in this record
No approved claim for this field. This does not establish that the robot lacks the feature.
Finger tactile sensingMeaning of this field
Explicit manufacturer description of finger tactile sensing for an identified generation. Retain coverage wording; no inferred sensor type, resolution or manipulation performance.
Unknown in this record
No approved claim for this field. This does not establish that the robot lacks the feature.
Tesla states tactile sensing on all fingers. Sensor type, resolution and task autonomy are unspecified.
Manufacturer claim · Not independently verified
Evidence & conditions for Tesla Optimus Gen 2: Finger tactile sensing
Original expression
Tactile sensing on all fingers
Context
All-finger coverage is Tesla’s claim. Sensor type, resolution and task autonomy are unspecified.
Claimant
Tesla, Inc.
Source location
01:13, overlay during the tabletop manipulation segment.
No approved claim for this field. This does not establish that the robot lacks the feature.
Unknown in this record
No approved claim for this field. This does not establish that the robot lacks the feature.
Foot force and torque sensingMeaning of this field
Explicit manufacturer description of foot force and torque sensing for an identified generation. No inferred sensor layout, precision or balance performance.
Unknown in this record
No approved claim for this field. This does not establish that the robot lacks the feature.
Tesla states force and torque sensing at the feet. Sensor arrangement, precision and test conditions are unspecified.
Manufacturer claim · Not independently verified
Evidence & conditions for Tesla Optimus Gen 2: Foot force and torque sensing
Original expression
Foot force/torque sensing
Context
Foot sensing is stated without sensor layout, precision, control method or test conditions.
Claimant
Tesla, Inc.
Source location
00:51, overlay in the close-up of feet and lower legs.
No approved claim for this field. This does not establish that the robot lacks the feature.
Unknown in this record
No approved claim for this field. This does not establish that the robot lacks the feature.
Toe articulationMeaning of this field
Explicit manufacturer description of articulated toes for an identified generation. Does not establish actuation, joint count, range or locomotion ability.
Unknown in this record
No approved claim for this field. This does not establish that the robot lacks the feature.
Tesla describes articulated toe sections. Powered actuation, joint count and range are unspecified.
Manufacturer claim · Not independently verified
Evidence & conditions for Tesla Optimus Gen 2: Toe articulation
Original expression
Articulated toe sections
Context
Articulation is stated; powered actuation, joint count and range are unspecified.
No approved claim for this field. This does not establish that the robot lacks the feature.
Unknown in this record
No approved claim for this field. This does not establish that the robot lacks the feature.
Relative improvement claims
Keep these separate from absolute specifications. Without a compatible baseline and test conditions, they cannot establish total mass or walking speed.
Scroll the table sideways to compare all four configurations. With a keyboard, focus the table region and use the arrow keys.
Relative improvement claims: Unitree G1, Standard configuration; Tesla Optimus Gen 2, December 2023 presentation; Unitree H1, Original H1 · basic model; Booster T1, 23-DoF configuration · four-DoF arms
Reviewed field
Unitree G1Standard configuration
Tesla Optimus Gen 2December 2023 presentation
Unitree H1Original H1 · basic model
Booster T123-DoF configuration · four-DoF arms
Claimed mass reductionMeaning of this field
Magnitude of a manufacturer-claimed mass reduction in kilograms. Retain the stated comparator and battery/configuration scope, or their absence. Never whole-robot mass or a basis for deriving it without a compatible baseline.
Unknown in this record
No approved claim for this field. This does not establish that the robot lacks the feature.
Claimed reduction of 10 kg. The comparator, baseline mass and battery scope are unspecified; this is not the robot’s total mass.
Manufacturer claim · Not independently verified
Evidence & conditions for Tesla Optimus Gen 2: Claimed mass reduction
Original expression
10kg total weight reduction (kg)
Context
Relative reduction claim only. Comparator identity and baseline mass, battery scope and measurement conditions are unspecified. No absolute Gen 2 mass is inferred.
Method
Numeric magnitude transcribed in kilograms; no absolute mass calculated.
Claimant
Tesla, Inc.
Source location
00:55, overlay in the full-body presentation segment.
No approved claim for this field. This does not establish that the robot lacks the feature.
Unknown in this record
No approved claim for this field. This does not establish that the robot lacks the feature.
Claimed walking speed increaseMeaning of this field
Relative manufacturer-claimed walking speed increase in percent. Retain comparator and measurement conditions, or their absence. Never an absolute speed, independently measured result or demonstrated general locomotion ability.
Unknown in this record
No approved claim for this field. This does not establish that the robot lacks the feature.
Claimed walking speed increase of 30%. The comparator, baseline speed and test conditions are unspecified; this is not an absolute speed or independent test result.
Manufacturer claim · Not independently verified
Evidence & conditions for Tesla Optimus Gen 2: Claimed walking speed increase
Original expression
30% walk speed boost (%)
Context
Relative increase claim only. Comparator identity, baseline speed, protocol, surface, loading and control mode are unspecified. No absolute speed or general autonomous locomotion is inferred.
Method
Percentage transcribed as a relative increase; no conversion to absolute speed.
No approved claim for this field. This does not establish that the robot lacks the feature.
Unknown in this record
No approved claim for this field. This does not establish that the robot lacks the feature.
TRACE THE CLAIMS
Sources & their dates
The links open the original publisher. Pages may change after capture; each profile keeps the original selected expressions and their source locations visible.
Publication time unknown. GitHub commit 18f4921e5934117c8cd2560db64228baa189f163 records author and committer time 2024-10-09T12:51:51Z. That repository timestamp identifies the pinned version; it is not treated as the first publication time of the claim or world-valid time.
Before a purchasing or deployment decision, request the exact hardware configuration, task and load conditions, repeatable test results, and dated commercial terms. This comparison is a starting point for that research.