{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:YR4PI65EJFT6I6LMJEBEG3R6NM","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":"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}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.19771","created_at":"2026-07-05T10:55:02Z"},{"alias_kind":"arxiv_version","alias_value":"2504.19771v1","created_at":"2026-07-05T10:55:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.19771","created_at":"2026-07-05T10:55:02Z"},{"alias_kind":"pith_short_12","alias_value":"YR4PI65EJFT6","created_at":"2026-07-05T10:55:02Z"},{"alias_kind":"pith_short_16","alias_value":"YR4PI65EJFT6I6LM","created_at":"2026-07-05T10:55:02Z"},{"alias_kind":"pith_short_8","alias_value":"YR4PI65E","created_at":"2026-07-05T10:55:02Z"}],"graph_snapshots":[{"event_id":"sha256:18ea309edd08caa3d119e9377a101202a04e7aceb80965ea0ff8e168e74d937c","target":"graph","created_at":"2026-07-05T10:55:02Z","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/2504.19771/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This technical report provides an in-depth evaluation of both established and state-of-the-art methods for simulating constrained rigid multi-body systems with hard-contact dynamics, using formulations of Nonlinear Complementarity Problems (NCPs). We are particularly interest in examining the simulation of highly coupled mechanical systems with multitudes of closed-loop bilateral kinematic joint constraints in the presence of additional unilateral constraints such as joint limits and frictional contacts with restitutive impacts. This work thus presents an up-to-date literature survey of the re","authors_text":"Moritz B\\\"acher, Ruben Grandia, Vassilios Tsounis","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-28T13:16:57Z","title":"On Solving the Dynamics of Constrained Rigid Multi-Body Systems with Kinematic Loops"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.19771","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":"sha256:595897a9d338f5eac26879d7dfdfaecd442291e37042122987ae02b89de6d968","target":"record","created_at":"2026-07-05T10:55:02Z","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":"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}},"canonical_sha256":"c478f47ba44967e4796c4902436e3e6b3d196cf142c67f7e06dcadef42ee4d9b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c478f47ba44967e4796c4902436e3e6b3d196cf142c67f7e06dcadef42ee4d9b","first_computed_at":"2026-07-05T10:55:02.835331Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:55:02.835331Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1HKQvYKRqxLtu7v5vlildXlkNHgaxp8CzkeVr6VoiSa3cPyWlQHvfBizMyNfoQAokBEzUr3V92KTZ3jAqjesAA==","signature_status":"signed_v1","signed_at":"2026-07-05T10:55:02.835801Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.19771","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:595897a9d338f5eac26879d7dfdfaecd442291e37042122987ae02b89de6d968","sha256:18ea309edd08caa3d119e9377a101202a04e7aceb80965ea0ff8e168e74d937c"],"state_sha256":"e30b273bb6ae29a53370dcc475ed267e19b8285fbcf95a8df421413923a643dc"}