{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:HNCLWHOJLZGWMXODRWNBKJBHZZ","short_pith_number":"pith:HNCLWHOJ","canonical_record":{"source":{"id":"2002.11901","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-27T03:49:11Z","cross_cats_sorted":[],"title_canon_sha256":"cedf8eb3f850a4de3f1f96f4ac8f2b6bf41952f97d3310d372e40c2445489873","abstract_canon_sha256":"3699c3ae57c5094949b6ed9445ef18c4ee36521286bfb1595121caff393b281c"},"schema_version":"1.0"},"canonical_sha256":"3b44bb1dc95e4d665dc38d9a152427ce401e5e072cefbf942ae64397023bfe65","source":{"kind":"arxiv","id":"2002.11901","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2002.11901","created_at":"2026-07-05T01:43:24Z"},{"alias_kind":"arxiv_version","alias_value":"2002.11901v2","created_at":"2026-07-05T01:43:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2002.11901","created_at":"2026-07-05T01:43:24Z"},{"alias_kind":"pith_short_12","alias_value":"HNCLWHOJLZGW","created_at":"2026-07-05T01:43:24Z"},{"alias_kind":"pith_short_16","alias_value":"HNCLWHOJLZGWMXOD","created_at":"2026-07-05T01:43:24Z"},{"alias_kind":"pith_short_8","alias_value":"HNCLWHOJ","created_at":"2026-07-05T01:43:24Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:HNCLWHOJLZGWMXODRWNBKJBHZZ","target":"record","payload":{"canonical_record":{"source":{"id":"2002.11901","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-27T03:49:11Z","cross_cats_sorted":[],"title_canon_sha256":"cedf8eb3f850a4de3f1f96f4ac8f2b6bf41952f97d3310d372e40c2445489873","abstract_canon_sha256":"3699c3ae57c5094949b6ed9445ef18c4ee36521286bfb1595121caff393b281c"},"schema_version":"1.0"},"canonical_sha256":"3b44bb1dc95e4d665dc38d9a152427ce401e5e072cefbf942ae64397023bfe65","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:43:24.592556Z","signature_b64":"4mvnEljOCHQza1MqsbQ1VWRtV48lY0sCtoR3EiQlFWMDy71mvqBV2Xyj0cNy8fQ5xjdgkD6ibbO9v74vRpQeDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3b44bb1dc95e4d665dc38d9a152427ce401e5e072cefbf942ae64397023bfe65","last_reissued_at":"2026-07-05T01:43:24.592079Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:43:24.592079Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2002.11901","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T01:43:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dMUADocfoxSDFhLQ5SpCd4BUiVx44HuflErjlRk4QqY9ac+hW8xoZcJBOFbygALdJ+jAD+tjlwV8U5Li/uTHAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T10:24:28.908403Z"},"content_sha256":"5a7eb1ef41231c6880f973dab2f0929c3413b4cf50854266edb0c5e66646b016","schema_version":"1.0","event_id":"sha256:5a7eb1ef41231c6880f973dab2f0929c3413b4cf50854266edb0c5e66646b016"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:HNCLWHOJLZGWMXODRWNBKJBHZZ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Purely-Reactive Manipulability-Maximising Motion Controller","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jesse Haviland, Peter Corke","submitted_at":"2020-02-27T03:49:11Z","abstract_excerpt":"We present a novel approach to controlling the instantaneous velocity of a robot end-effector that is able to simultaneously maximise manipulability and avoid joint limits. It operates on non-redundant and redundant robots, which is achieved by adding artificial redundancy in the form of controlled path deviation. We formulate the problem as a quadratic programme and provide an open-source Python implementation that provides solutions in just a few milliseconds. It accepts a robot model expressed using URDF or Denavit-Hartenberg parameterisation. We compare our method to previous work in simul"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2002.11901","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2002.11901/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T01:43:24Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YGl/W1JqdFddc/nuerZKkFVuPAxl4x8VCfwen3J7H2hCtmH+cvdhBShwdU0NPZk+FhY4QOYPy/mlIyT6E4ERCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T10:24:28.908908Z"},"content_sha256":"f603adf94b8bf832bf109444a305b72a8be8a8194819e22538ceb29867a46e57","schema_version":"1.0","event_id":"sha256:f603adf94b8bf832bf109444a305b72a8be8a8194819e22538ceb29867a46e57"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HNCLWHOJLZGWMXODRWNBKJBHZZ/bundle.json","state_url":"https://pith.science/pith/HNCLWHOJLZGWMXODRWNBKJBHZZ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HNCLWHOJLZGWMXODRWNBKJBHZZ/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-04T10:24:28Z","links":{"resolver":"https://pith.science/pith/HNCLWHOJLZGWMXODRWNBKJBHZZ","bundle":"https://pith.science/pith/HNCLWHOJLZGWMXODRWNBKJBHZZ/bundle.json","state":"https://pith.science/pith/HNCLWHOJLZGWMXODRWNBKJBHZZ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HNCLWHOJLZGWMXODRWNBKJBHZZ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:HNCLWHOJLZGWMXODRWNBKJBHZZ","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":"3699c3ae57c5094949b6ed9445ef18c4ee36521286bfb1595121caff393b281c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-27T03:49:11Z","title_canon_sha256":"cedf8eb3f850a4de3f1f96f4ac8f2b6bf41952f97d3310d372e40c2445489873"},"schema_version":"1.0","source":{"id":"2002.11901","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2002.11901","created_at":"2026-07-05T01:43:24Z"},{"alias_kind":"arxiv_version","alias_value":"2002.11901v2","created_at":"2026-07-05T01:43:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2002.11901","created_at":"2026-07-05T01:43:24Z"},{"alias_kind":"pith_short_12","alias_value":"HNCLWHOJLZGW","created_at":"2026-07-05T01:43:24Z"},{"alias_kind":"pith_short_16","alias_value":"HNCLWHOJLZGWMXOD","created_at":"2026-07-05T01:43:24Z"},{"alias_kind":"pith_short_8","alias_value":"HNCLWHOJ","created_at":"2026-07-05T01:43:24Z"}],"graph_snapshots":[{"event_id":"sha256:f603adf94b8bf832bf109444a305b72a8be8a8194819e22538ceb29867a46e57","target":"graph","created_at":"2026-07-05T01:43:24Z","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/2002.11901/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present a novel approach to controlling the instantaneous velocity of a robot end-effector that is able to simultaneously maximise manipulability and avoid joint limits. It operates on non-redundant and redundant robots, which is achieved by adding artificial redundancy in the form of controlled path deviation. We formulate the problem as a quadratic programme and provide an open-source Python implementation that provides solutions in just a few milliseconds. It accepts a robot model expressed using URDF or Denavit-Hartenberg parameterisation. We compare our method to previous work in simul","authors_text":"Jesse Haviland, Peter Corke","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-27T03:49:11Z","title":"A Purely-Reactive Manipulability-Maximising Motion Controller"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2002.11901","kind":"arxiv","version":2},"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":"sha256:5a7eb1ef41231c6880f973dab2f0929c3413b4cf50854266edb0c5e66646b016","target":"record","created_at":"2026-07-05T01:43:24Z","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":"3699c3ae57c5094949b6ed9445ef18c4ee36521286bfb1595121caff393b281c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-02-27T03:49:11Z","title_canon_sha256":"cedf8eb3f850a4de3f1f96f4ac8f2b6bf41952f97d3310d372e40c2445489873"},"schema_version":"1.0","source":{"id":"2002.11901","kind":"arxiv","version":2}},"canonical_sha256":"3b44bb1dc95e4d665dc38d9a152427ce401e5e072cefbf942ae64397023bfe65","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3b44bb1dc95e4d665dc38d9a152427ce401e5e072cefbf942ae64397023bfe65","first_computed_at":"2026-07-05T01:43:24.592079Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:43:24.592079Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4mvnEljOCHQza1MqsbQ1VWRtV48lY0sCtoR3EiQlFWMDy71mvqBV2Xyj0cNy8fQ5xjdgkD6ibbO9v74vRpQeDw==","signature_status":"signed_v1","signed_at":"2026-07-05T01:43:24.592556Z","signed_message":"canonical_sha256_bytes"},"source_id":"2002.11901","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5a7eb1ef41231c6880f973dab2f0929c3413b4cf50854266edb0c5e66646b016","sha256:f603adf94b8bf832bf109444a305b72a8be8a8194819e22538ceb29867a46e57"],"state_sha256":"f2025eec6cf64d0820029a222c52408d501922837e2e277cdc2a4a36a1348f3f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SFQZhHt/J19C36w5ZaKAL8enTQ1B3fx9DBxXE5Smr6WjyeDso9dIz+Ig1UqgjksuxaNVxxus7qEudoN0QB1jCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T10:24:28.912665Z","bundle_sha256":"5f9d1fc6e5291e1e237df8403514323bd6b3a804b1dc23e838be1cccfd26fd7e"}}