Pith Number

pith:YR4PI65E

pith:2025:YR4PI65EJFT6I6LMJEBEG3R6NM

not attested not anchored not stored refs pending

On Solving the Dynamics of Constrained Rigid Multi-Body Systems with Kinematic Loops

Moritz B\"acher, Ruben Grandia, Vassilios Tsounis

arxiv:2504.19771 v1 · 2025-04-28 · 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{YR4PI65EJFT6I6LMJEBEG3R6NM}

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.

Cited by

1 paper in Pith

Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning

Receipt and verification

First computed	2026-07-05T10:55:02.835331Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c478f47ba44967e4796c4902436e3e6b3d196cf142c67f7e06dcadef42ee4d9b

Aliases

arxiv: 2504.19771 · arxiv_version: 2504.19771v1 · doi: 10.48550/arxiv.2504.19771 · pith_short_12: YR4PI65EJFT6 · pith_short_16: YR4PI65EJFT6I6LM · pith_short_8: YR4PI65E

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/YR4PI65EJFT6I6LMJEBEG3R6NM \
  | 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: c478f47ba44967e4796c4902436e3e6b3d196cf142c67f7e06dcadef42ee4d9b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "fbf11c1a29afa2df4dfbd1781a0ce8bc14c36cbb234974166d959f7d6381d76a",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-04-28T13:16:57Z",
    "title_canon_sha256": "535d584a4cabd55f993a172dae7cf667e927b1f8f23b4dd0d35b4583c886198d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2504.19771",
    "kind": "arxiv",
    "version": 1
  }
}