{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:766SOA4KQKAEF67FCECL3A2BF5","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":"5c16d3f459cfb363d8ccb18b3b46fd3bd1f8d0f4fe37232c08276b08e74199ff","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-30T10:19:04Z","title_canon_sha256":"cbea504681a3784eb8a93ba3313424f3237530bd516ba3dfa1efbcbcc3f326ec"},"schema_version":"1.0","source":{"id":"1905.12945","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1905.12945","created_at":"2026-07-05T01:16:39Z"},{"alias_kind":"arxiv_version","alias_value":"1905.12945v1","created_at":"2026-07-05T01:16:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1905.12945","created_at":"2026-07-05T01:16:39Z"},{"alias_kind":"pith_short_12","alias_value":"766SOA4KQKAE","created_at":"2026-07-05T01:16:39Z"},{"alias_kind":"pith_short_16","alias_value":"766SOA4KQKAEF67F","created_at":"2026-07-05T01:16:39Z"},{"alias_kind":"pith_short_8","alias_value":"766SOA4K","created_at":"2026-07-05T01:16:39Z"}],"graph_snapshots":[{"event_id":"sha256:de9c613543d216077cef8644641188cdf4141a8746db6ee7b30c8570e44fa0ad","target":"graph","created_at":"2026-07-05T01:16:39Z","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/1905.12945/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be satisfied with a set/range of values can be addressed in a rigorous manner within a priority framework. In addition, optimization tasks, driven by the gradient of a proper function, may be considered as well, usually as lower priority tasks. In this paper the proper design of the tasks, their priority and the use of a Set-Based Multi-Task Priority framework is","authors_text":"Gianluca Antonelli, Paolo Di Lillo, Stefano Chiaverini","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-30T10:19:04Z","title":"Handling robot constraints within a Set-Based Multi-Task Priority Inverse Kinematics Framework"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1905.12945","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":"sha256:8205fcb1afc6fc9c9f00f9b4248c764cc08180461d5e917f90da53780d8da7ff","target":"record","created_at":"2026-07-05T01:16:39Z","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":"5c16d3f459cfb363d8ccb18b3b46fd3bd1f8d0f4fe37232c08276b08e74199ff","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-05-30T10:19:04Z","title_canon_sha256":"cbea504681a3784eb8a93ba3313424f3237530bd516ba3dfa1efbcbcc3f326ec"},"schema_version":"1.0","source":{"id":"1905.12945","kind":"arxiv","version":1}},"canonical_sha256":"ffbd27038a828042fbe51104bd83412f4bc7dc42fc8dee18baf69f5efb3043fb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ffbd27038a828042fbe51104bd83412f4bc7dc42fc8dee18baf69f5efb3043fb","first_computed_at":"2026-07-05T01:16:39.253789Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:16:39.253789Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MJGbN7bCgLEqy0NpmgUVWDjmULVDVRTr5tQB+9mfGXyoK8B3pv/l4RxViGVK/9+F5gFrlZwGM5MrT2CBQHhLCA==","signature_status":"signed_v1","signed_at":"2026-07-05T01:16:39.254188Z","signed_message":"canonical_sha256_bytes"},"source_id":"1905.12945","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8205fcb1afc6fc9c9f00f9b4248c764cc08180461d5e917f90da53780d8da7ff","sha256:de9c613543d216077cef8644641188cdf4141a8746db6ee7b30c8570e44fa0ad"],"state_sha256":"e223aa2fbf85d29348aa75761b9ec91b57d67db7691db408792caa17ae7f5752"}