{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:HAQU6RZAIRDYTIXGLC7QN2SA7F","short_pith_number":"pith:HAQU6RZA","canonical_record":{"source":{"id":"2204.12658","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-27T01:40:17Z","cross_cats_sorted":[],"title_canon_sha256":"7fddd179e2de5bf63cfb8c9481475826e594c46ca54344a8097418a470025d50","abstract_canon_sha256":"34cdfb0b97019f82161df99b0381acc90e81a862a1636c578f544131d07a597f"},"schema_version":"1.0"},"canonical_sha256":"38214f4720444789a2e658bf06ea40f96c21aea8ed0654e81b09e11278d0873a","source":{"kind":"arxiv","id":"2204.12658","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.12658","created_at":"2026-07-05T04:18:21Z"},{"alias_kind":"arxiv_version","alias_value":"2204.12658v1","created_at":"2026-07-05T04:18:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.12658","created_at":"2026-07-05T04:18:21Z"},{"alias_kind":"pith_short_12","alias_value":"HAQU6RZAIRDY","created_at":"2026-07-05T04:18:21Z"},{"alias_kind":"pith_short_16","alias_value":"HAQU6RZAIRDYTIXG","created_at":"2026-07-05T04:18:21Z"},{"alias_kind":"pith_short_8","alias_value":"HAQU6RZA","created_at":"2026-07-05T04:18:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:HAQU6RZAIRDYTIXGLC7QN2SA7F","target":"record","payload":{"canonical_record":{"source":{"id":"2204.12658","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-27T01:40:17Z","cross_cats_sorted":[],"title_canon_sha256":"7fddd179e2de5bf63cfb8c9481475826e594c46ca54344a8097418a470025d50","abstract_canon_sha256":"34cdfb0b97019f82161df99b0381acc90e81a862a1636c578f544131d07a597f"},"schema_version":"1.0"},"canonical_sha256":"38214f4720444789a2e658bf06ea40f96c21aea8ed0654e81b09e11278d0873a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:18:21.217461Z","signature_b64":"9qgd1iLUkbNWyWMzx/TMRqrmnBBp1tB6wRTs7E6OFxJ6jiFxRlZMvGRO1/taitDfQ5DsPSAuaJkS30QJWXM4CQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"38214f4720444789a2e658bf06ea40f96c21aea8ed0654e81b09e11278d0873a","last_reissued_at":"2026-07-05T04:18:21.216972Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:18:21.216972Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2204.12658","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":"2026-07-05T04:18:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"w2jxbKVdq2ZPDElDcnDIEvuejeYSSE9vC9Khf6ySbI+rEvgRnzsxgg1KVShzhMsYbppncX5TS/ZYsJ5uIBPSAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T11:57:08.279830Z"},"content_sha256":"cc8ecf0c209e5f9746fab3f41c8290d0b91cc41b2d56f690cbf32d600aeb3838","schema_version":"1.0","event_id":"sha256:cc8ecf0c209e5f9746fab3f41c8290d0b91cc41b2d56f690cbf32d600aeb3838"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:HAQU6RZAIRDYTIXGLC7QN2SA7F","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Measuring a Robot Hand's Graspable Region using Power and Precision Grasps","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Cindy Grimm, John Morrow, Joshua Campbell, Nuha Nishat, Ravi Balasubramanian","submitted_at":"2022-04-27T01:40:17Z","abstract_excerpt":"The variety of robotic hand designs and actuation schemes makes it difficult to measure a hand's graspable volume. For end-users, this lack of standardized measurements makes it challenging to determine a priori if a robot hand is the right size for grasping an object. We propose a practical hand measurement standard, based on precision and power grasps, that is applicable to a wide variety of robot hand designs. The resulting measurements can be used to both determine if an object will fit in the hand and characterize the size of an object with respect to the hand. Our measurement procedure u"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.12658","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/2204.12658/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":"2026-07-05T04:18:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"k3fdEhDgO2+UK1CbrJY6G66f59WJ4SnBkzNCUz9J8mzF7JHcrcBf3rwJgpIp5jNeb3QtKhBEJqYtfesusT3rCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T11:57:08.280411Z"},"content_sha256":"688d830ca0b3407b799a3412743e28034ef79e037ba3d0b4bfb0db17b800e6b0","schema_version":"1.0","event_id":"sha256:688d830ca0b3407b799a3412743e28034ef79e037ba3d0b4bfb0db17b800e6b0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HAQU6RZAIRDYTIXGLC7QN2SA7F/bundle.json","state_url":"https://pith.science/pith/HAQU6RZAIRDYTIXGLC7QN2SA7F/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HAQU6RZAIRDYTIXGLC7QN2SA7F/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":"2026-07-05T11:57:08Z","links":{"resolver":"https://pith.science/pith/HAQU6RZAIRDYTIXGLC7QN2SA7F","bundle":"https://pith.science/pith/HAQU6RZAIRDYTIXGLC7QN2SA7F/bundle.json","state":"https://pith.science/pith/HAQU6RZAIRDYTIXGLC7QN2SA7F/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HAQU6RZAIRDYTIXGLC7QN2SA7F/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:HAQU6RZAIRDYTIXGLC7QN2SA7F","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":"34cdfb0b97019f82161df99b0381acc90e81a862a1636c578f544131d07a597f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-27T01:40:17Z","title_canon_sha256":"7fddd179e2de5bf63cfb8c9481475826e594c46ca54344a8097418a470025d50"},"schema_version":"1.0","source":{"id":"2204.12658","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.12658","created_at":"2026-07-05T04:18:21Z"},{"alias_kind":"arxiv_version","alias_value":"2204.12658v1","created_at":"2026-07-05T04:18:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.12658","created_at":"2026-07-05T04:18:21Z"},{"alias_kind":"pith_short_12","alias_value":"HAQU6RZAIRDY","created_at":"2026-07-05T04:18:21Z"},{"alias_kind":"pith_short_16","alias_value":"HAQU6RZAIRDYTIXG","created_at":"2026-07-05T04:18:21Z"},{"alias_kind":"pith_short_8","alias_value":"HAQU6RZA","created_at":"2026-07-05T04:18:21Z"}],"graph_snapshots":[{"event_id":"sha256:688d830ca0b3407b799a3412743e28034ef79e037ba3d0b4bfb0db17b800e6b0","target":"graph","created_at":"2026-07-05T04:18:21Z","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/2204.12658/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The variety of robotic hand designs and actuation schemes makes it difficult to measure a hand's graspable volume. For end-users, this lack of standardized measurements makes it challenging to determine a priori if a robot hand is the right size for grasping an object. We propose a practical hand measurement standard, based on precision and power grasps, that is applicable to a wide variety of robot hand designs. The resulting measurements can be used to both determine if an object will fit in the hand and characterize the size of an object with respect to the hand. Our measurement procedure u","authors_text":"Cindy Grimm, John Morrow, Joshua Campbell, Nuha Nishat, Ravi Balasubramanian","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-27T01:40:17Z","title":"Measuring a Robot Hand's Graspable Region using Power and Precision Grasps"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.12658","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:cc8ecf0c209e5f9746fab3f41c8290d0b91cc41b2d56f690cbf32d600aeb3838","target":"record","created_at":"2026-07-05T04:18:21Z","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":"34cdfb0b97019f82161df99b0381acc90e81a862a1636c578f544131d07a597f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-27T01:40:17Z","title_canon_sha256":"7fddd179e2de5bf63cfb8c9481475826e594c46ca54344a8097418a470025d50"},"schema_version":"1.0","source":{"id":"2204.12658","kind":"arxiv","version":1}},"canonical_sha256":"38214f4720444789a2e658bf06ea40f96c21aea8ed0654e81b09e11278d0873a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"38214f4720444789a2e658bf06ea40f96c21aea8ed0654e81b09e11278d0873a","first_computed_at":"2026-07-05T04:18:21.216972Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:18:21.216972Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"9qgd1iLUkbNWyWMzx/TMRqrmnBBp1tB6wRTs7E6OFxJ6jiFxRlZMvGRO1/taitDfQ5DsPSAuaJkS30QJWXM4CQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:18:21.217461Z","signed_message":"canonical_sha256_bytes"},"source_id":"2204.12658","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cc8ecf0c209e5f9746fab3f41c8290d0b91cc41b2d56f690cbf32d600aeb3838","sha256:688d830ca0b3407b799a3412743e28034ef79e037ba3d0b4bfb0db17b800e6b0"],"state_sha256":"f9b3ae6a3bed32bbfd6da8af4f2b2f1eade6de6a46840caf95e979abf7f73ddc"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"98PhqfT8RFT+b+yLIpLVw3aCPzHC0jEeWWquQZJSo13OUUKu0WCVJhn59TVonPOWYyw/StkfnTpVQwG2eFxbBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-05T11:57:08.282555Z","bundle_sha256":"962368c43422970bda4b9e6f8e8c6fa2cef0757dde7410dd23f3a6f33d5e681a"}}