Pith Number

pith:NZYINZOE

pith:2017:NZYINZOEXSHBJFIF2HUWEXVQNR

not attested not anchored not stored refs pending

The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)

(2) Toyota Research Institute (TRI)), Carlos Mastalli (1), Claudio Semini (1) ((1) Department of Advanced Robotics, Darwin G. Caldwell (1), Hongkai Dai (2), Istituto Italiano di Tecnologia (IIT), Michele Focchi (1), Romeo Orsolino (1)

arxiv:1712.02731 v1 · 2017-12-07 · 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{NZYINZOEXSHBJFIF2HUWEXVQNR}

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	2026-05-18T00:28:33.048578Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6e7086e5c4bc8e149505d1e9625eb06c7fdfc3c5f198ecc19263c7be95891db9

Aliases

arxiv: 1712.02731 · arxiv_version: 1712.02731v1 · doi: 10.48550/arxiv.1712.02731 · pith_short_12: NZYINZOEXSHB · pith_short_16: NZYINZOEXSHBJFIF · pith_short_8: NZYINZOE

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/NZYINZOEXSHBJFIF2HUWEXVQNR \
  | 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: 6e7086e5c4bc8e149505d1e9625eb06c7fdfc3c5f198ecc19263c7be95891db9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e196d02717c715f7cf3480cf69b35fe4b040d5f236e2d11a8c5b7703f5c03882",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-12-07T17:23:07Z",
    "title_canon_sha256": "176e925dded364b576702fd22363fec497b871a80405afd685fbd1be5a26907a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1712.02731",
    "kind": "arxiv",
    "version": 1
  }
}