Blast

  1. Make it work

  2. Make it faster

  3. Repeat step 2

Blast is a fast C++ trajectory optimization library for robot manipulators. Given a robot model and a motion task (start pose, goal pose, and constraints), Blast finds a smooth, time-optimal, collision-free B-spline trajectory that satisfies the following limits

  • joint position

  • joint velocity

  • joint acceleration

  • joint torque

  • tool speed

It is header-only from the consumer’s perspective (#include <blast>) and ships with first-class Python bindings (import blast).

Blast is the software accompanying the ICRA 2026 paper “Accelerating Trajectory Optimization by Exploiting B-Spline Gradient Structure.” See Citing Blast.

Getting started

Guides

API reference

About