Optimus Gen 2 vs CL-1: Specs, Price & ROS Support Compared (2023)
Tesla vs LimX Dynamics — independent, side-by-side analysis.
Quick Verdict
Optimus Gen 2 leads in more DOF, faster speed. Overall, Optimus Gen 2 has an edge in 2 out of 2 compared categories.
Optimus Gen 2
Tesla
CL-1
LimX Dynamics
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Optimus Gen 2 CL-1
Specifications
$20,000–$30,000 target at scale; not for sale, no MSRP. Optimus V3 not unveiled as of Sep 2026; Fremont line being installed, production expected later in 2026 (Q2 2026 update)PricePrototype (2023), never sold; superseded by CL-3 / Oli (full-size humanoid now sold on limxdynamics.com)
168 cmHeight157 cm
57 kgWeight—
28DOF20
20 kgPayload—
8hRuntime—
2.2 m/sSpeed1.11 m/s
YesStairsYes
NoLiDARYes
Tesla FSD custom SoCComputeN/A
Task Capabilities
✓Pick up a box from shelf?
◔Open a door handle?
◔Pour liquid into cup?
◔Use a power tool?
✕Type on keyboard?
✓Climb stairs with load?
◔Walk on uneven terrain?
✕Run (>3 m/s)?
◔Crouch under obstacle?
◔Navigate in crowd?
✓Recognize & locate objects?
◔Respond to voice commands?
✓Detect humans nearby?
✓Work 8-hour shift?
✕Hot-swap battery?
◔Operate 24/7 (with charging)?
✕Work in rain (IP65+)?
?Work below 0°C?
?Work in dusty environment?
◔Work safely alongside humans?
Ecosystem Openness
5
Optimus Gen 2
/100
—
CL-1
Fully proprietary. No public SDK/API. Closed ecosystem.
Pros and cons at a glance
Optimus Gen 2
Pros
- Long runtime (8h per charge) for full-shift operation
- 28 degrees of freedom — full-body articulation
Cons
- Still in development, no commercial availability
- Unit price not publicly disclosed (quote-on-request or enterprise-only)
- Closed software stack — no public SDK or ROS support
CL-1
Pros
- Ships with LiDAR for robust depth sensing in low-light environments
Cons
- Discontinued by the manufacturer
- Unit price not publicly disclosed (quote-on-request or enterprise-only)
Frequently asked questions
How do Optimus Gen 2 and CL-1 compare on price?
Optimus Gen 2: $20,000–$30,000 target at scale; not for sale, no MSRP. Optimus V3 not unveiled as of Sep 2026; Fremont line being installed, production expected later in 2026 (Q2 2026 update). CL-1: Prototype (2023), never sold; superseded by CL-3 / Oli (full-size humanoid now sold on limxdynamics.com).
Is Optimus Gen 2 or CL-1 actually available to buy?
Optimus Gen 2 is in active development without commercial availability. CL-1 has been discontinued. Status reflects the vendor's published commercial position as of the last review and can change between announcement and actual delivery.
Which is better for ROS-based development: Optimus Gen 2 or CL-1?
Optimus Gen 2 has no ROS support; CL-1 has ROS 1 only. For research and multi-vendor robotics stacks, native ROS 2 is the strongest signal of ecosystem maturity.
Does Optimus Gen 2 or CL-1 use LiDAR?
CL-1 ships with LiDAR for depth sensing; Optimus Gen 2 does not. LiDAR adds cost and complexity but improves obstacle detection in low-light or low-contrast environments.
Last updated: 2023