Pith Number

pith:HHOJCHGJ

pith:2016:HHOJCHGJFET7376LSU3GQBOMSZ

not attested not anchored not stored refs pending

A Primer on the Differential Calculus of 3D Orientations

Christian Gehring, Dario Bellicoso, Gabriel Nuetzi, Hannes Sommer, Marco Hutter, Michael Bloesch, Michael Burri, P\'eter Fankhauser, Roland Siegwart, Stefan Leutenegger, Tristan Laidlow

arxiv:1606.05285 v2 · 2016-06-16 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{HHOJCHGJFET7376LSU3GQBOMSZ}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-05-18T01:00:52.849333Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

39dc911cc92927fdffcb95366805cc965ac1302f7ebc88fe1532f26135aa7b64

Aliases

arxiv: 1606.05285 · arxiv_version: 1606.05285v2 · doi: 10.48550/arxiv.1606.05285 · pith_short_12: HHOJCHGJFET7 · pith_short_16: HHOJCHGJFET7376L · pith_short_8: HHOJCHGJ

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/HHOJCHGJFET7376LSU3GQBOMSZ \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 39dc911cc92927fdffcb95366805cc965ac1302f7ebc88fe1532f26135aa7b64

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ca09525fe8e4ed12ddb0a9fd771f5532514e48be23896f1816f851aa689b3b79",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-06-16T17:29:38Z",
    "title_canon_sha256": "97fd03e363af55822c8de9f737015678ede39c50c85e2537e5577838c469f4f8"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1606.05285",
    "kind": "arxiv",
    "version": 2
  }
}