{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:OHUYVYFQTFFZHZUV3GPZZAO2YF","short_pith_number":"pith:OHUYVYFQ","canonical_record":{"source":{"id":"2004.00880","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-04-02T08:57:34Z","cross_cats_sorted":[],"title_canon_sha256":"2de6fdbd11de9397bc1fc5deee0cc6fa1a86243a10ff7c8872b0211970d118d6","abstract_canon_sha256":"771f12aaf6d71150b955833b7e6448e8e56301101f361b1206c6838b1a4e386e"},"schema_version":"1.0"},"canonical_sha256":"71e98ae0b0994b93e695d99f9c81dac16da4388d2f0a370887b74c93c77387cd","source":{"kind":"arxiv","id":"2004.00880","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2004.00880","created_at":"2026-07-05T00:52:21Z"},{"alias_kind":"arxiv_version","alias_value":"2004.00880v1","created_at":"2026-07-05T00:52:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2004.00880","created_at":"2026-07-05T00:52:21Z"},{"alias_kind":"pith_short_12","alias_value":"OHUYVYFQTFFZ","created_at":"2026-07-05T00:52:21Z"},{"alias_kind":"pith_short_16","alias_value":"OHUYVYFQTFFZHZUV","created_at":"2026-07-05T00:52:21Z"},{"alias_kind":"pith_short_8","alias_value":"OHUYVYFQ","created_at":"2026-07-05T00:52:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:OHUYVYFQTFFZHZUV3GPZZAO2YF","target":"record","payload":{"canonical_record":{"source":{"id":"2004.00880","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-04-02T08:57:34Z","cross_cats_sorted":[],"title_canon_sha256":"2de6fdbd11de9397bc1fc5deee0cc6fa1a86243a10ff7c8872b0211970d118d6","abstract_canon_sha256":"771f12aaf6d71150b955833b7e6448e8e56301101f361b1206c6838b1a4e386e"},"schema_version":"1.0"},"canonical_sha256":"71e98ae0b0994b93e695d99f9c81dac16da4388d2f0a370887b74c93c77387cd","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:52:21.420608Z","signature_b64":"MBrE29l/InT4v+sdfJ6BNWxEmUtKktchBd/F2Mok096dbaBbnVoa6me/Ff/+0txIITK/hjuSjO3OOuUb31pVBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"71e98ae0b0994b93e695d99f9c81dac16da4388d2f0a370887b74c93c77387cd","last_reissued_at":"2026-07-05T00:52:21.420254Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:52:21.420254Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2004.00880","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T00:52:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hX+3FvE5wlPs6fpAYmCvTnkIQyGG6ntPrfe36q8ubTpweV/OmZYgYq3bYvIZPw3fkSwko8g6Py2Lze5+6Co6CQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T17:48:09.800361Z"},"content_sha256":"59d91a43a8da43924f71d18ffb5413700bdb40ed0ef23abe3d9cdcddc507ca80","schema_version":"1.0","event_id":"sha256:59d91a43a8da43924f71d18ffb5413700bdb40ed0ef23abe3d9cdcddc507ca80"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:OHUYVYFQTFFZHZUV3GPZZAO2YF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"CLASH WRIST -- A hardware to increase the capability of CLASH fruit gripper to use environment constraints exploration","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Maximo A. Roa, Werner Friedl","submitted_at":"2020-04-02T08:57:34Z","abstract_excerpt":"Humans use environmental constraints (EC) in manipulation to compensate for uncertainties in their world model. The same principle was recently applied to robotics, so that soft underactuated hands improve their grasping capability by using environmental constraints exploitation (ECE) [1]. Due to orientation of the robotic hand for example in the EC wall grasp, the length of the robot wrist plus the hand length gets quite important, if objects are grasp out of a box [2] . Most of the modern cobots have quite long wrist, so we have constructed a two degree of freedom wrist for the CLASH [3], to"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2004.00880","kind":"arxiv","version":1},"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/2004.00880/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":"2026-07-05T00:52:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WRkPuXDVAsWWAiDC6ZMZy97tjMMZTNsVLQ/JS3dpXIu24kJKhdZREkEgdeDr3f1YpIY8P4J0mtBDn4mtDTV5Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T17:48:09.800962Z"},"content_sha256":"21211f1b7301928d8ad6910cf5dd5176965098b42110cff4853bbb87f8b88112","schema_version":"1.0","event_id":"sha256:21211f1b7301928d8ad6910cf5dd5176965098b42110cff4853bbb87f8b88112"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OHUYVYFQTFFZHZUV3GPZZAO2YF/bundle.json","state_url":"https://pith.science/pith/OHUYVYFQTFFZHZUV3GPZZAO2YF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OHUYVYFQTFFZHZUV3GPZZAO2YF/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":"2026-08-22T17:48:09Z","links":{"resolver":"https://pith.science/pith/OHUYVYFQTFFZHZUV3GPZZAO2YF","bundle":"https://pith.science/pith/OHUYVYFQTFFZHZUV3GPZZAO2YF/bundle.json","state":"https://pith.science/pith/OHUYVYFQTFFZHZUV3GPZZAO2YF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OHUYVYFQTFFZHZUV3GPZZAO2YF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:OHUYVYFQTFFZHZUV3GPZZAO2YF","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":"771f12aaf6d71150b955833b7e6448e8e56301101f361b1206c6838b1a4e386e","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-04-02T08:57:34Z","title_canon_sha256":"2de6fdbd11de9397bc1fc5deee0cc6fa1a86243a10ff7c8872b0211970d118d6"},"schema_version":"1.0","source":{"id":"2004.00880","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2004.00880","created_at":"2026-07-05T00:52:21Z"},{"alias_kind":"arxiv_version","alias_value":"2004.00880v1","created_at":"2026-07-05T00:52:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2004.00880","created_at":"2026-07-05T00:52:21Z"},{"alias_kind":"pith_short_12","alias_value":"OHUYVYFQTFFZ","created_at":"2026-07-05T00:52:21Z"},{"alias_kind":"pith_short_16","alias_value":"OHUYVYFQTFFZHZUV","created_at":"2026-07-05T00:52:21Z"},{"alias_kind":"pith_short_8","alias_value":"OHUYVYFQ","created_at":"2026-07-05T00:52:21Z"}],"graph_snapshots":[{"event_id":"sha256:21211f1b7301928d8ad6910cf5dd5176965098b42110cff4853bbb87f8b88112","target":"graph","created_at":"2026-07-05T00:52:21Z","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/2004.00880/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Humans use environmental constraints (EC) in manipulation to compensate for uncertainties in their world model. The same principle was recently applied to robotics, so that soft underactuated hands improve their grasping capability by using environmental constraints exploitation (ECE) [1]. Due to orientation of the robotic hand for example in the EC wall grasp, the length of the robot wrist plus the hand length gets quite important, if objects are grasp out of a box [2] . Most of the modern cobots have quite long wrist, so we have constructed a two degree of freedom wrist for the CLASH [3], to","authors_text":"Maximo A. Roa, Werner Friedl","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-04-02T08:57:34Z","title":"CLASH WRIST -- A hardware to increase the capability of CLASH fruit gripper to use environment constraints exploration"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2004.00880","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":"sha256:59d91a43a8da43924f71d18ffb5413700bdb40ed0ef23abe3d9cdcddc507ca80","target":"record","created_at":"2026-07-05T00:52:21Z","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":"771f12aaf6d71150b955833b7e6448e8e56301101f361b1206c6838b1a4e386e","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2020-04-02T08:57:34Z","title_canon_sha256":"2de6fdbd11de9397bc1fc5deee0cc6fa1a86243a10ff7c8872b0211970d118d6"},"schema_version":"1.0","source":{"id":"2004.00880","kind":"arxiv","version":1}},"canonical_sha256":"71e98ae0b0994b93e695d99f9c81dac16da4388d2f0a370887b74c93c77387cd","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"71e98ae0b0994b93e695d99f9c81dac16da4388d2f0a370887b74c93c77387cd","first_computed_at":"2026-07-05T00:52:21.420254Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:52:21.420254Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MBrE29l/InT4v+sdfJ6BNWxEmUtKktchBd/F2Mok096dbaBbnVoa6me/Ff/+0txIITK/hjuSjO3OOuUb31pVBg==","signature_status":"signed_v1","signed_at":"2026-07-05T00:52:21.420608Z","signed_message":"canonical_sha256_bytes"},"source_id":"2004.00880","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:59d91a43a8da43924f71d18ffb5413700bdb40ed0ef23abe3d9cdcddc507ca80","sha256:21211f1b7301928d8ad6910cf5dd5176965098b42110cff4853bbb87f8b88112"],"state_sha256":"ef448a1a5e27d45ee2855797a5887951ddade8768ce4051308f59742cdeb981c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6CgYedZdHDLDBXuYuckxXAs2hBkWjCAtjRbVzGNuq1E+TQV/dhOmmdrsjWWDELqaKw9oDJfxoKWl2Nnb2zehBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T17:48:09.804932Z","bundle_sha256":"11b0f0a0d9ba07cea5fc979ac818d586cc723e2fe05246cfc9b13f4801ecc496"}}