Pith Number

pith:W4TDOMFH

pith:2019:W4TDOMFHNIYUI6DJUJNFHRKZ4L

not attested not anchored not stored refs pending

6DLS: Modeling Nonplanar Frictional Surface Contacts for Grasping using 6D Limit Surfaces

Daolin Ma, Eckehard Steinbach, Jingyi Xu, Tamay Aykut

arxiv:1909.06885 v4 · 2019-09-15 · 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{W4TDOMFHNIYUI6DJUJNFHRKZ4L}

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	2026-07-05T02:26:46.017982Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b7263730a76a31447869a25a53c559e2cee1d96a511517b176a3d41fbce4420f

Aliases

arxiv: 1909.06885 · arxiv_version: 1909.06885v4 · doi: 10.48550/arxiv.1909.06885 · pith_short_12: W4TDOMFHNIYU · pith_short_16: W4TDOMFHNIYUI6DJ · pith_short_8: W4TDOMFH

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/W4TDOMFHNIYUI6DJUJNFHRKZ4L \
  | 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: b7263730a76a31447869a25a53c559e2cee1d96a511517b176a3d41fbce4420f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1c19028bb83b96dd1f776c35a6f9f3e36f19053795b1cc4e6baabdadd9db31a0",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-09-15T21:07:06Z",
    "title_canon_sha256": "23e33b95410d5928db580ad4ac591d094f77f15ab0525c8aadb783d3ed62a4b5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1909.06885",
    "kind": "arxiv",
    "version": 4
  }
}