{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:ILXFCNUEL6SZLSCYXLDKRRAQLV","short_pith_number":"pith:ILXFCNUE","canonical_record":{"source":{"id":"2212.11215","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-12-21T17:42:33Z","cross_cats_sorted":[],"title_canon_sha256":"b461291ee3ae5a496c4bc668c394740b47741c60a80b867022188b4b22e72d01","abstract_canon_sha256":"78740d7e4e304157aaa87c5fa3c529dda1301abc195c6b7578ff60026dec6fe7"},"schema_version":"1.0"},"canonical_sha256":"42ee5136845fa595c858bac6a8c4105d65d079422c06e20000b5a883948f6c36","source":{"kind":"arxiv","id":"2212.11215","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2212.11215","created_at":"2026-07-05T05:27:28Z"},{"alias_kind":"arxiv_version","alias_value":"2212.11215v1","created_at":"2026-07-05T05:27:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2212.11215","created_at":"2026-07-05T05:27:28Z"},{"alias_kind":"pith_short_12","alias_value":"ILXFCNUEL6SZ","created_at":"2026-07-05T05:27:28Z"},{"alias_kind":"pith_short_16","alias_value":"ILXFCNUEL6SZLSCY","created_at":"2026-07-05T05:27:28Z"},{"alias_kind":"pith_short_8","alias_value":"ILXFCNUE","created_at":"2026-07-05T05:27:28Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:ILXFCNUEL6SZLSCYXLDKRRAQLV","target":"record","payload":{"canonical_record":{"source":{"id":"2212.11215","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-12-21T17:42:33Z","cross_cats_sorted":[],"title_canon_sha256":"b461291ee3ae5a496c4bc668c394740b47741c60a80b867022188b4b22e72d01","abstract_canon_sha256":"78740d7e4e304157aaa87c5fa3c529dda1301abc195c6b7578ff60026dec6fe7"},"schema_version":"1.0"},"canonical_sha256":"42ee5136845fa595c858bac6a8c4105d65d079422c06e20000b5a883948f6c36","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:27:28.424549Z","signature_b64":"FSogIZGR5iMuur2i4GEWYwaf6FxiC7lSvogNWAHW8grzktwO55iEWJulZ94W0S5FAYkgGf6GxGmwWGkB+Hg1AA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"42ee5136845fa595c858bac6a8c4105d65d079422c06e20000b5a883948f6c36","last_reissued_at":"2026-07-05T05:27:28.424144Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:27:28.424144Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2212.11215","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":"2026-07-05T05:27:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OLuXImcbSZdPQRUFMIVqnsrVnMH4+otzK+7KtEppT4EOEUxVxbUtE+yfQMR+FfVDtlw0V6qzM+WWSSkpB5GcDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T05:04:19.380957Z"},"content_sha256":"d98b524f560f32f8e0df389d38fc16f03e9da042a50baf65c40f1e1e5eac21ed","schema_version":"1.0","event_id":"sha256:d98b524f560f32f8e0df389d38fc16f03e9da042a50baf65c40f1e1e5eac21ed"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:ILXFCNUEL6SZLSCYXLDKRRAQLV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A C++ Implementation of a Cartesian Impedance Controller for Robotic Manipulators","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Julian M. Salt-Ducaju, Matthias Mayr","submitted_at":"2022-12-21T17:42:33Z","abstract_excerpt":"Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot behavior has the added benefit of allowing physical human guidance of the robot. In this paper, we propose a C++ implementation of compliance control valid for any torque-commanded robotic manipulator. The proposed controller implements Cartesian impedance control to track a desired end-effector pose. Additionally, joint impedance is projected in the nullspace o"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2212.11215","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/2212.11215/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":"2026-07-05T05:27:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"y/Xzwfov+pCYIMt+mSAs1AYKXJFDmf9BEFr0nmCr8U4uthcIhHVZvU7eEOy2jOSMMjntGplw6kCxap8fzYHPCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-15T05:04:19.381487Z"},"content_sha256":"d45a714bc5cb09d2a8a95d420f031e1d8c46e76ed9684bf9e1546b5dd52c3f99","schema_version":"1.0","event_id":"sha256:d45a714bc5cb09d2a8a95d420f031e1d8c46e76ed9684bf9e1546b5dd52c3f99"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ILXFCNUEL6SZLSCYXLDKRRAQLV/bundle.json","state_url":"https://pith.science/pith/ILXFCNUEL6SZLSCYXLDKRRAQLV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ILXFCNUEL6SZLSCYXLDKRRAQLV/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":"2026-08-15T05:04:19Z","links":{"resolver":"https://pith.science/pith/ILXFCNUEL6SZLSCYXLDKRRAQLV","bundle":"https://pith.science/pith/ILXFCNUEL6SZLSCYXLDKRRAQLV/bundle.json","state":"https://pith.science/pith/ILXFCNUEL6SZLSCYXLDKRRAQLV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ILXFCNUEL6SZLSCYXLDKRRAQLV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:ILXFCNUEL6SZLSCYXLDKRRAQLV","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":"78740d7e4e304157aaa87c5fa3c529dda1301abc195c6b7578ff60026dec6fe7","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-12-21T17:42:33Z","title_canon_sha256":"b461291ee3ae5a496c4bc668c394740b47741c60a80b867022188b4b22e72d01"},"schema_version":"1.0","source":{"id":"2212.11215","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2212.11215","created_at":"2026-07-05T05:27:28Z"},{"alias_kind":"arxiv_version","alias_value":"2212.11215v1","created_at":"2026-07-05T05:27:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2212.11215","created_at":"2026-07-05T05:27:28Z"},{"alias_kind":"pith_short_12","alias_value":"ILXFCNUEL6SZ","created_at":"2026-07-05T05:27:28Z"},{"alias_kind":"pith_short_16","alias_value":"ILXFCNUEL6SZLSCY","created_at":"2026-07-05T05:27:28Z"},{"alias_kind":"pith_short_8","alias_value":"ILXFCNUE","created_at":"2026-07-05T05:27:28Z"}],"graph_snapshots":[{"event_id":"sha256:d45a714bc5cb09d2a8a95d420f031e1d8c46e76ed9684bf9e1546b5dd52c3f99","target":"graph","created_at":"2026-07-05T05:27:28Z","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/2212.11215/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot behavior has the added benefit of allowing physical human guidance of the robot. In this paper, we propose a C++ implementation of compliance control valid for any torque-commanded robotic manipulator. The proposed controller implements Cartesian impedance control to track a desired end-effector pose. Additionally, joint impedance is projected in the nullspace o","authors_text":"Julian M. Salt-Ducaju, Matthias Mayr","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-12-21T17:42:33Z","title":"A C++ Implementation of a Cartesian Impedance Controller for Robotic Manipulators"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2212.11215","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:d98b524f560f32f8e0df389d38fc16f03e9da042a50baf65c40f1e1e5eac21ed","target":"record","created_at":"2026-07-05T05:27:28Z","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":"78740d7e4e304157aaa87c5fa3c529dda1301abc195c6b7578ff60026dec6fe7","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2022-12-21T17:42:33Z","title_canon_sha256":"b461291ee3ae5a496c4bc668c394740b47741c60a80b867022188b4b22e72d01"},"schema_version":"1.0","source":{"id":"2212.11215","kind":"arxiv","version":1}},"canonical_sha256":"42ee5136845fa595c858bac6a8c4105d65d079422c06e20000b5a883948f6c36","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"42ee5136845fa595c858bac6a8c4105d65d079422c06e20000b5a883948f6c36","first_computed_at":"2026-07-05T05:27:28.424144Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:27:28.424144Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FSogIZGR5iMuur2i4GEWYwaf6FxiC7lSvogNWAHW8grzktwO55iEWJulZ94W0S5FAYkgGf6GxGmwWGkB+Hg1AA==","signature_status":"signed_v1","signed_at":"2026-07-05T05:27:28.424549Z","signed_message":"canonical_sha256_bytes"},"source_id":"2212.11215","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d98b524f560f32f8e0df389d38fc16f03e9da042a50baf65c40f1e1e5eac21ed","sha256:d45a714bc5cb09d2a8a95d420f031e1d8c46e76ed9684bf9e1546b5dd52c3f99"],"state_sha256":"b294ef9152c84268258f6edbd62940723513f77b35e30d8ac643b6efeb4380ed"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zHtE+owZH3RTZrV8qqJE4jN0H7/CQ+ZxROBx37Dc3u2jThoDjsUJRdjfJcRW7El3pYxThH8ZJ7RyA2z7JhCFAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-15T05:04:19.386952Z","bundle_sha256":"2b0db02bd1fdc22f4a8395154f5396b0f54f3019cf6fa65129f217106ea2474b"}}