{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:SAK3R2RW2TDDUCD7MIBJUXBUNQ","short_pith_number":"pith:SAK3R2RW","canonical_record":{"source":{"id":"1904.07723","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-15T17:57:08Z","cross_cats_sorted":[],"title_canon_sha256":"1da9fd6aa8e894d0898c749decad9b7bf51bc600320da0ca6e4376c71ed9ef8b","abstract_canon_sha256":"0b197d2fd46d64d2111c97a86fabf2de43cab3bbf748a20bd9fd26deede678b9"},"schema_version":"1.0"},"canonical_sha256":"9015b8ea36d4c63a087f62029a5c346c21bf4b1623ecada9d43f2ee86969482c","source":{"kind":"arxiv","id":"1904.07723","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.07723","created_at":"2026-05-17T23:48:19Z"},{"alias_kind":"arxiv_version","alias_value":"1904.07723v1","created_at":"2026-05-17T23:48:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.07723","created_at":"2026-05-17T23:48:19Z"},{"alias_kind":"pith_short_12","alias_value":"SAK3R2RW2TDD","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_16","alias_value":"SAK3R2RW2TDDUCD7","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_8","alias_value":"SAK3R2RW","created_at":"2026-05-18T12:33:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:SAK3R2RW2TDDUCD7MIBJUXBUNQ","target":"record","payload":{"canonical_record":{"source":{"id":"1904.07723","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-15T17:57:08Z","cross_cats_sorted":[],"title_canon_sha256":"1da9fd6aa8e894d0898c749decad9b7bf51bc600320da0ca6e4376c71ed9ef8b","abstract_canon_sha256":"0b197d2fd46d64d2111c97a86fabf2de43cab3bbf748a20bd9fd26deede678b9"},"schema_version":"1.0"},"canonical_sha256":"9015b8ea36d4c63a087f62029a5c346c21bf4b1623ecada9d43f2ee86969482c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:48:19.531118Z","signature_b64":"DUMhcHWGEKTLpg6SIaOj7B+dyn4uyRoqGPiNk92wWF9+theycmEM5CeBK+I9gjRBhpRo98fFAD5upnsQw2dPDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9015b8ea36d4c63a087f62029a5c346c21bf4b1623ecada9d43f2ee86969482c","last_reissued_at":"2026-05-17T23:48:19.530437Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:48:19.530437Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1904.07723","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":"2026-05-17T23:48:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"P6EPUqYePhPppYX1+hfVPEsYL/4+JmhzMBOxqty73R40QfyKuJHU1Hu4Ekox9hS7l6NGJV2vCz2PK0bf75nmAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-13T04:48:14.099794Z"},"content_sha256":"3276ee0d9947c33ff2847fab1b251e90f67839de4458a2f647a2f9fe778c1b7a","schema_version":"1.0","event_id":"sha256:3276ee0d9947c33ff2847fab1b251e90f67839de4458a2f647a2f9fe778c1b7a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:SAK3R2RW2TDDUCD7MIBJUXBUNQ","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Rigid Body Motion Prediction with Planar Non-convex Contact Patch","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jiayin Xie, Nilanjan Chakraborty","submitted_at":"2019-04-15T17:57:08Z","abstract_excerpt":"We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact is assumed to be a planar non-convex contact patch. The planar non-convex contact patch can either be a topologically connected set or disconnected set. Such algorithms are useful in planning and control for robotic manipulation. Most works in rigid body dynamic simulation assume that the contact between objects is a point contact, which may not be valid in many applications. In this paper, by using the convex hull of the contact patch, we build"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.07723","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":""},"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":"2026-05-17T23:48:19Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Fklm/A93K23mNsAspX8TJKwwacwjY7bEqLh5prkL6/+6yQ0DPJgsOZEmFaP3QU97qbt4u2IhJzUyxriwQCIDAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-13T04:48:14.100136Z"},"content_sha256":"ced9c4abb7785fb5fefaa906b42747818e01cf2e66aead3a2d0f1bd57a1fc473","schema_version":"1.0","event_id":"sha256:ced9c4abb7785fb5fefaa906b42747818e01cf2e66aead3a2d0f1bd57a1fc473"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SAK3R2RW2TDDUCD7MIBJUXBUNQ/bundle.json","state_url":"https://pith.science/pith/SAK3R2RW2TDDUCD7MIBJUXBUNQ/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SAK3R2RW2TDDUCD7MIBJUXBUNQ/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":"2026-07-13T04:48:14Z","links":{"resolver":"https://pith.science/pith/SAK3R2RW2TDDUCD7MIBJUXBUNQ","bundle":"https://pith.science/pith/SAK3R2RW2TDDUCD7MIBJUXBUNQ/bundle.json","state":"https://pith.science/pith/SAK3R2RW2TDDUCD7MIBJUXBUNQ/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SAK3R2RW2TDDUCD7MIBJUXBUNQ/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:SAK3R2RW2TDDUCD7MIBJUXBUNQ","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":"0b197d2fd46d64d2111c97a86fabf2de43cab3bbf748a20bd9fd26deede678b9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-15T17:57:08Z","title_canon_sha256":"1da9fd6aa8e894d0898c749decad9b7bf51bc600320da0ca6e4376c71ed9ef8b"},"schema_version":"1.0","source":{"id":"1904.07723","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.07723","created_at":"2026-05-17T23:48:19Z"},{"alias_kind":"arxiv_version","alias_value":"1904.07723v1","created_at":"2026-05-17T23:48:19Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.07723","created_at":"2026-05-17T23:48:19Z"},{"alias_kind":"pith_short_12","alias_value":"SAK3R2RW2TDD","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_16","alias_value":"SAK3R2RW2TDDUCD7","created_at":"2026-05-18T12:33:27Z"},{"alias_kind":"pith_short_8","alias_value":"SAK3R2RW","created_at":"2026-05-18T12:33:27Z"}],"graph_snapshots":[{"event_id":"sha256:ced9c4abb7785fb5fefaa906b42747818e01cf2e66aead3a2d0f1bd57a1fc473","target":"graph","created_at":"2026-05-17T23:48:19Z","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"},"paper":{"abstract_excerpt":"We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact is assumed to be a planar non-convex contact patch. The planar non-convex contact patch can either be a topologically connected set or disconnected set. Such algorithms are useful in planning and control for robotic manipulation. Most works in rigid body dynamic simulation assume that the contact between objects is a point contact, which may not be valid in many applications. In this paper, by using the convex hull of the contact patch, we build","authors_text":"Jiayin Xie, Nilanjan Chakraborty","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-15T17:57:08Z","title":"Rigid Body Motion Prediction with Planar Non-convex Contact Patch"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.07723","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":"sha256:3276ee0d9947c33ff2847fab1b251e90f67839de4458a2f647a2f9fe778c1b7a","target":"record","created_at":"2026-05-17T23:48:19Z","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":"0b197d2fd46d64d2111c97a86fabf2de43cab3bbf748a20bd9fd26deede678b9","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-15T17:57:08Z","title_canon_sha256":"1da9fd6aa8e894d0898c749decad9b7bf51bc600320da0ca6e4376c71ed9ef8b"},"schema_version":"1.0","source":{"id":"1904.07723","kind":"arxiv","version":1}},"canonical_sha256":"9015b8ea36d4c63a087f62029a5c346c21bf4b1623ecada9d43f2ee86969482c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9015b8ea36d4c63a087f62029a5c346c21bf4b1623ecada9d43f2ee86969482c","first_computed_at":"2026-05-17T23:48:19.530437Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:48:19.530437Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"DUMhcHWGEKTLpg6SIaOj7B+dyn4uyRoqGPiNk92wWF9+theycmEM5CeBK+I9gjRBhpRo98fFAD5upnsQw2dPDw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:48:19.531118Z","signed_message":"canonical_sha256_bytes"},"source_id":"1904.07723","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3276ee0d9947c33ff2847fab1b251e90f67839de4458a2f647a2f9fe778c1b7a","sha256:ced9c4abb7785fb5fefaa906b42747818e01cf2e66aead3a2d0f1bd57a1fc473"],"state_sha256":"a69c675cbed7b2639bf065967d37e5eeb4c2b4499d831c0a1dabba0ef334e876"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"z4tLsx045eEGigQ2moks99lAusww1t/BhfSY7zhYQSB3pgzD23VO+o0nVWEbQE7R31Sfnx2w0+rZaB7HVThEDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-13T04:48:14.102229Z","bundle_sha256":"0bef5280c8782e87ab6a020fa94428b9bc0aeebdda3227ebb2ab6c8853f85e4a"}}