{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:6QV5FIMPAGP3GU3SSVBPFHTZ22","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"81b7bdd4adce567051f2e6faa7825e6ce4bb139aa91d3bfb4795001516ca217c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-17T03:56:22Z","title_canon_sha256":"0599e89ceeb01e1ddabce572d65aabfff8936c517c823fb533c1a31a5c7673d2"},"schema_version":"1.0","source":{"id":"2506.14163","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.14163","created_at":"2026-07-05T11:22:50Z"},{"alias_kind":"arxiv_version","alias_value":"2506.14163v1","created_at":"2026-07-05T11:22:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.14163","created_at":"2026-07-05T11:22:50Z"},{"alias_kind":"pith_short_12","alias_value":"6QV5FIMPAGP3","created_at":"2026-07-05T11:22:50Z"},{"alias_kind":"pith_short_16","alias_value":"6QV5FIMPAGP3GU3S","created_at":"2026-07-05T11:22:50Z"},{"alias_kind":"pith_short_8","alias_value":"6QV5FIMP","created_at":"2026-07-05T11:22:50Z"}],"graph_snapshots":[{"event_id":"sha256:7bd8e48a3a89729bedd2ca3cffc901b328d60bcf556516bb0ced0866af01efa4","target":"graph","created_at":"2026-07-05T11:22:50Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2506.14163/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Handling oversized, variable-shaped, or delicate objects in transportation, grasping tasks is extremely challenging, mainly due to the limitations of the gripper's shape and size. This paper proposes a novel gripper, Lasso Gripper. Inspired by traditional tools like the lasso and the uurga, Lasso Gripper captures objects by launching and retracting a string. Contrary to antipodal grippers, which concentrate force on a limited area, Lasso Gripper applies uniform pressure along the length of the string for a more gentle grasp. The gripper is controlled by four motors-two for launching the string","authors_text":"Peng Lu, Qiyuan Qiao, Xiyu Fan, Yu Wang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-17T03:56:22Z","title":"Lasso Gripper: A String Shooting-Retracting Mechanism for Shape-Adaptive Grasping"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.14163","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:5be48ccbc5e59aea838b9ad603e2b55879d73255dbb5d60d61d629384b3034e2","target":"record","created_at":"2026-07-05T11:22:50Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"81b7bdd4adce567051f2e6faa7825e6ce4bb139aa91d3bfb4795001516ca217c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-17T03:56:22Z","title_canon_sha256":"0599e89ceeb01e1ddabce572d65aabfff8936c517c823fb533c1a31a5c7673d2"},"schema_version":"1.0","source":{"id":"2506.14163","kind":"arxiv","version":1}},"canonical_sha256":"f42bd2a18f019fb353729542f29e79d688c9962a83e7ced3124b43eb1b42d110","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f42bd2a18f019fb353729542f29e79d688c9962a83e7ced3124b43eb1b42d110","first_computed_at":"2026-07-05T11:22:50.151899Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:22:50.151899Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"v/CfMHr50b08Wv16nn5LnHVIfRoTNp70T5tZhn51BM4LPAKI6JlUX4aUg0gYDe1vU8tnEOPlxXHyv7Qggtm+Aw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:22:50.152273Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.14163","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5be48ccbc5e59aea838b9ad603e2b55879d73255dbb5d60d61d629384b3034e2","sha256:7bd8e48a3a89729bedd2ca3cffc901b328d60bcf556516bb0ced0866af01efa4"],"state_sha256":"de1b459e027665ab85e281fbf771295e3b843cb7aec8874ff49bbb741841187f"}