{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:UVK4RXDCBM7YSQEXMKJ5KAIKFD","short_pith_number":"pith:UVK4RXDC","canonical_record":{"source":{"id":"2405.17020","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-27T10:15:35Z","cross_cats_sorted":[],"title_canon_sha256":"e30cb01e0b10da197197898d411f5100048818e25d68c6637024905f4321ec54","abstract_canon_sha256":"671dda54859e90ee1f17894963004a54f7c1ded92a69559d81ff36a20987843b"},"schema_version":"1.0"},"canonical_sha256":"a555c8dc620b3f8940976293d5010a28faf3700648137a0bf6a375312b739c1c","source":{"kind":"arxiv","id":"2405.17020","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.17020","created_at":"2026-07-05T08:23:38Z"},{"alias_kind":"arxiv_version","alias_value":"2405.17020v1","created_at":"2026-07-05T08:23:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.17020","created_at":"2026-07-05T08:23:38Z"},{"alias_kind":"pith_short_12","alias_value":"UVK4RXDCBM7Y","created_at":"2026-07-05T08:23:38Z"},{"alias_kind":"pith_short_16","alias_value":"UVK4RXDCBM7YSQEX","created_at":"2026-07-05T08:23:38Z"},{"alias_kind":"pith_short_8","alias_value":"UVK4RXDC","created_at":"2026-07-05T08:23:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:UVK4RXDCBM7YSQEXMKJ5KAIKFD","target":"record","payload":{"canonical_record":{"source":{"id":"2405.17020","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-27T10:15:35Z","cross_cats_sorted":[],"title_canon_sha256":"e30cb01e0b10da197197898d411f5100048818e25d68c6637024905f4321ec54","abstract_canon_sha256":"671dda54859e90ee1f17894963004a54f7c1ded92a69559d81ff36a20987843b"},"schema_version":"1.0"},"canonical_sha256":"a555c8dc620b3f8940976293d5010a28faf3700648137a0bf6a375312b739c1c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:23:38.791671Z","signature_b64":"EeiNiY0xdS7U3447S5mG7FXcf5crCdhnHZQslroQalQ5GMXC5GWU9Esj8hOs3i1nT0I2/7QiRwEdV3t8okdYBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a555c8dc620b3f8940976293d5010a28faf3700648137a0bf6a375312b739c1c","last_reissued_at":"2026-07-05T08:23:38.791261Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:23:38.791261Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2405.17020","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":"2026-07-05T08:23:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"y5P9/ITr9A+YQZ4ayqB0kkOPnu303cd4gXQuAHKxoIvOa4IQFue4aCDfqozyURMUMd4T26OtDg81MDTqRpeCAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T22:02:51.504047Z"},"content_sha256":"43088bc4df90bd06c6cafe7d641ae402ceac7d4b548b2e45462ebe5b9c6743f3","schema_version":"1.0","event_id":"sha256:43088bc4df90bd06c6cafe7d641ae402ceac7d4b548b2e45462ebe5b9c6743f3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:UVK4RXDCBM7YSQEXMKJ5KAIKFD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Justin Carpentier, Louis Montaut, Quentin Le Lidec","submitted_at":"2024-05-27T10:15:35Z","abstract_excerpt":"Whether rigid or compliant, contact interactions are inherent to robot motions, enabling them to move or manipulate things. Contact interactions result from complex physical phenomena, that can be mathematically cast as Nonlinear Complementarity Problems (NCPs) in the context of rigid or compliant point contact interactions. Such a class of complementarity problems is, in general, difficult to solve both from an optimization and numerical perspective. Over the past decades, dedicated and specialized contact solvers, implemented in modern robotics simulators (e.g., Bullet, Drake, MuJoCo, DART, "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.17020","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/2405.17020/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":"2026-07-05T08:23:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VoNMAxdnv3/ZJASNw2xU/yWiilU+v5ibjYH9yQcJPBCpW4ExbyZzKSznQWWAnvZ0ez57ukiCeyq/UghKrhkoBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T22:02:51.504603Z"},"content_sha256":"96fafc4599ae27706e0bb027f953d7ad1eaab151257f2bafafc5718025c946cb","schema_version":"1.0","event_id":"sha256:96fafc4599ae27706e0bb027f953d7ad1eaab151257f2bafafc5718025c946cb"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UVK4RXDCBM7YSQEXMKJ5KAIKFD/bundle.json","state_url":"https://pith.science/pith/UVK4RXDCBM7YSQEXMKJ5KAIKFD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UVK4RXDCBM7YSQEXMKJ5KAIKFD/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":"2026-08-09T22:02:51Z","links":{"resolver":"https://pith.science/pith/UVK4RXDCBM7YSQEXMKJ5KAIKFD","bundle":"https://pith.science/pith/UVK4RXDCBM7YSQEXMKJ5KAIKFD/bundle.json","state":"https://pith.science/pith/UVK4RXDCBM7YSQEXMKJ5KAIKFD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UVK4RXDCBM7YSQEXMKJ5KAIKFD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:UVK4RXDCBM7YSQEXMKJ5KAIKFD","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":"671dda54859e90ee1f17894963004a54f7c1ded92a69559d81ff36a20987843b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-27T10:15:35Z","title_canon_sha256":"e30cb01e0b10da197197898d411f5100048818e25d68c6637024905f4321ec54"},"schema_version":"1.0","source":{"id":"2405.17020","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2405.17020","created_at":"2026-07-05T08:23:38Z"},{"alias_kind":"arxiv_version","alias_value":"2405.17020v1","created_at":"2026-07-05T08:23:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.17020","created_at":"2026-07-05T08:23:38Z"},{"alias_kind":"pith_short_12","alias_value":"UVK4RXDCBM7Y","created_at":"2026-07-05T08:23:38Z"},{"alias_kind":"pith_short_16","alias_value":"UVK4RXDCBM7YSQEX","created_at":"2026-07-05T08:23:38Z"},{"alias_kind":"pith_short_8","alias_value":"UVK4RXDC","created_at":"2026-07-05T08:23:38Z"}],"graph_snapshots":[{"event_id":"sha256:96fafc4599ae27706e0bb027f953d7ad1eaab151257f2bafafc5718025c946cb","target":"graph","created_at":"2026-07-05T08:23:38Z","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/2405.17020/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Whether rigid or compliant, contact interactions are inherent to robot motions, enabling them to move or manipulate things. Contact interactions result from complex physical phenomena, that can be mathematically cast as Nonlinear Complementarity Problems (NCPs) in the context of rigid or compliant point contact interactions. Such a class of complementarity problems is, in general, difficult to solve both from an optimization and numerical perspective. Over the past decades, dedicated and specialized contact solvers, implemented in modern robotics simulators (e.g., Bullet, Drake, MuJoCo, DART, ","authors_text":"Justin Carpentier, Louis Montaut, Quentin Le Lidec","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-27T10:15:35Z","title":"From Compliant to Rigid Contact Simulation: a Unified and Efficient Approach"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.17020","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":"sha256:43088bc4df90bd06c6cafe7d641ae402ceac7d4b548b2e45462ebe5b9c6743f3","target":"record","created_at":"2026-07-05T08:23:38Z","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":"671dda54859e90ee1f17894963004a54f7c1ded92a69559d81ff36a20987843b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-05-27T10:15:35Z","title_canon_sha256":"e30cb01e0b10da197197898d411f5100048818e25d68c6637024905f4321ec54"},"schema_version":"1.0","source":{"id":"2405.17020","kind":"arxiv","version":1}},"canonical_sha256":"a555c8dc620b3f8940976293d5010a28faf3700648137a0bf6a375312b739c1c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a555c8dc620b3f8940976293d5010a28faf3700648137a0bf6a375312b739c1c","first_computed_at":"2026-07-05T08:23:38.791261Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:23:38.791261Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"EeiNiY0xdS7U3447S5mG7FXcf5crCdhnHZQslroQalQ5GMXC5GWU9Esj8hOs3i1nT0I2/7QiRwEdV3t8okdYBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:23:38.791671Z","signed_message":"canonical_sha256_bytes"},"source_id":"2405.17020","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:43088bc4df90bd06c6cafe7d641ae402ceac7d4b548b2e45462ebe5b9c6743f3","sha256:96fafc4599ae27706e0bb027f953d7ad1eaab151257f2bafafc5718025c946cb"],"state_sha256":"b9e659101850fda693c48ea6627eff09a71655a4ced5ab890cd6afcc64f5406f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"a9Zw9BaHFS6u4PxGtjfj/xwBcOCwG3TM8phitVMYB2/LLZ7wW15JZVrrXMUdIyfawUfA4781yEeTeLw++FRTAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T22:02:51.509468Z","bundle_sha256":"ccab57e38ac8b3a39891b5de7aac5e68bcd8e58652c1445810edd3a1a20c264c"}}