{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:JEWQCCCETCC2OPGY2AQEVOCAC5","short_pith_number":"pith:JEWQCCCE","canonical_record":{"source":{"id":"2306.03174","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.GR","submitted_at":"2023-06-05T18:29:00Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"6948f7795f48f0fe9614842d3413b98f878461624e58473ffa1e484509c8c00f","abstract_canon_sha256":"ac53047a6cda27e8398e6d6631c43b1963905b590fe07701c62dd886e3bfc00d"},"schema_version":"1.0"},"canonical_sha256":"492d0108449885a73cd8d0204ab840174cf622ae5272d106f2c61e8cc5856de3","source":{"kind":"arxiv","id":"2306.03174","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.03174","created_at":"2026-07-05T06:17:54Z"},{"alias_kind":"arxiv_version","alias_value":"2306.03174v1","created_at":"2026-07-05T06:17:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.03174","created_at":"2026-07-05T06:17:54Z"},{"alias_kind":"pith_short_12","alias_value":"JEWQCCCETCC2","created_at":"2026-07-05T06:17:54Z"},{"alias_kind":"pith_short_16","alias_value":"JEWQCCCETCC2OPGY","created_at":"2026-07-05T06:17:54Z"},{"alias_kind":"pith_short_8","alias_value":"JEWQCCCE","created_at":"2026-07-05T06:17:54Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:JEWQCCCETCC2OPGY2AQEVOCAC5","target":"record","payload":{"canonical_record":{"source":{"id":"2306.03174","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.GR","submitted_at":"2023-06-05T18:29:00Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"6948f7795f48f0fe9614842d3413b98f878461624e58473ffa1e484509c8c00f","abstract_canon_sha256":"ac53047a6cda27e8398e6d6631c43b1963905b590fe07701c62dd886e3bfc00d"},"schema_version":"1.0"},"canonical_sha256":"492d0108449885a73cd8d0204ab840174cf622ae5272d106f2c61e8cc5856de3","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:17:54.607632Z","signature_b64":"PTLGsUZqO9lcV716FWCiGBjX3PSz5AW6A/L2Dtk/S2AKw08wm1mQhMOao/U1eFWve54q6mLiFrjK+BatNxU1AQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"492d0108449885a73cd8d0204ab840174cf622ae5272d106f2c61e8cc5856de3","last_reissued_at":"2026-07-05T06:17:54.607144Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:17:54.607144Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2306.03174","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":"2026-07-05T06:17:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YG7m8XryNpuIGOS0asGFXw2DAEHlHm+WMoF1iFudVh8w3o2flU56BcJsAw3qstfipOI2+Iv5l48RLuKgrolyDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T15:04:39.869140Z"},"content_sha256":"3d17b27d2b0bf44e14beb5b1bd9d1126d59663344ee8201e275470cf16d5c7d5","schema_version":"1.0","event_id":"sha256:3d17b27d2b0bf44e14beb5b1bd9d1126d59663344ee8201e275470cf16d5c7d5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:JEWQCCCETCC2OPGY2AQEVOCAC5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Computational Design of Passive Grippers","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.GR","authors_text":"Adriana Schulz, Ian Good Yu Lou, Jeffrey Lipton, Milin Kodnongbua","submitted_at":"2023-06-05T18:29:00Z","abstract_excerpt":"This work proposes a novel generative design tool for passive grippers -- robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive grippers are used because they offer interesting trade-offs between cost and capabilities. However, existing designs are limited in the types of shapes that can be grasped. This work proposes to use rapid-manufacturing and design optimization to expand the space of shapes that can be passively grasped. Our novel generative design algorithm takes in an object and it"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.03174","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/2306.03174/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":"2026-07-05T06:17:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0DvtU7XjAHv+t6PfEpyutzFn36S7hMnk5PQ161gQRVp+SKVYUE1uSKfnTaakz2+svMB4hNVr4V5zasczqPsMCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T15:04:39.869528Z"},"content_sha256":"cef9c439d7e6712aaa2f448513b67078951e4adbf30d339de674a9ea2da553e4","schema_version":"1.0","event_id":"sha256:cef9c439d7e6712aaa2f448513b67078951e4adbf30d339de674a9ea2da553e4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JEWQCCCETCC2OPGY2AQEVOCAC5/bundle.json","state_url":"https://pith.science/pith/JEWQCCCETCC2OPGY2AQEVOCAC5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JEWQCCCETCC2OPGY2AQEVOCAC5/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":"2026-07-05T15:04:39Z","links":{"resolver":"https://pith.science/pith/JEWQCCCETCC2OPGY2AQEVOCAC5","bundle":"https://pith.science/pith/JEWQCCCETCC2OPGY2AQEVOCAC5/bundle.json","state":"https://pith.science/pith/JEWQCCCETCC2OPGY2AQEVOCAC5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JEWQCCCETCC2OPGY2AQEVOCAC5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:JEWQCCCETCC2OPGY2AQEVOCAC5","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":"ac53047a6cda27e8398e6d6631c43b1963905b590fe07701c62dd886e3bfc00d","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.GR","submitted_at":"2023-06-05T18:29:00Z","title_canon_sha256":"6948f7795f48f0fe9614842d3413b98f878461624e58473ffa1e484509c8c00f"},"schema_version":"1.0","source":{"id":"2306.03174","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2306.03174","created_at":"2026-07-05T06:17:54Z"},{"alias_kind":"arxiv_version","alias_value":"2306.03174v1","created_at":"2026-07-05T06:17:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2306.03174","created_at":"2026-07-05T06:17:54Z"},{"alias_kind":"pith_short_12","alias_value":"JEWQCCCETCC2","created_at":"2026-07-05T06:17:54Z"},{"alias_kind":"pith_short_16","alias_value":"JEWQCCCETCC2OPGY","created_at":"2026-07-05T06:17:54Z"},{"alias_kind":"pith_short_8","alias_value":"JEWQCCCE","created_at":"2026-07-05T06:17:54Z"}],"graph_snapshots":[{"event_id":"sha256:cef9c439d7e6712aaa2f448513b67078951e4adbf30d339de674a9ea2da553e4","target":"graph","created_at":"2026-07-05T06:17:54Z","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/2306.03174/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This work proposes a novel generative design tool for passive grippers -- robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive grippers are used because they offer interesting trade-offs between cost and capabilities. However, existing designs are limited in the types of shapes that can be grasped. This work proposes to use rapid-manufacturing and design optimization to expand the space of shapes that can be passively grasped. Our novel generative design algorithm takes in an object and it","authors_text":"Adriana Schulz, Ian Good Yu Lou, Jeffrey Lipton, Milin Kodnongbua","cross_cats":["cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.GR","submitted_at":"2023-06-05T18:29:00Z","title":"Computational Design of Passive Grippers"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.03174","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":"sha256:3d17b27d2b0bf44e14beb5b1bd9d1126d59663344ee8201e275470cf16d5c7d5","target":"record","created_at":"2026-07-05T06:17:54Z","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":"ac53047a6cda27e8398e6d6631c43b1963905b590fe07701c62dd886e3bfc00d","cross_cats_sorted":["cs.RO"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.GR","submitted_at":"2023-06-05T18:29:00Z","title_canon_sha256":"6948f7795f48f0fe9614842d3413b98f878461624e58473ffa1e484509c8c00f"},"schema_version":"1.0","source":{"id":"2306.03174","kind":"arxiv","version":1}},"canonical_sha256":"492d0108449885a73cd8d0204ab840174cf622ae5272d106f2c61e8cc5856de3","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"492d0108449885a73cd8d0204ab840174cf622ae5272d106f2c61e8cc5856de3","first_computed_at":"2026-07-05T06:17:54.607144Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:17:54.607144Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"PTLGsUZqO9lcV716FWCiGBjX3PSz5AW6A/L2Dtk/S2AKw08wm1mQhMOao/U1eFWve54q6mLiFrjK+BatNxU1AQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:17:54.607632Z","signed_message":"canonical_sha256_bytes"},"source_id":"2306.03174","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3d17b27d2b0bf44e14beb5b1bd9d1126d59663344ee8201e275470cf16d5c7d5","sha256:cef9c439d7e6712aaa2f448513b67078951e4adbf30d339de674a9ea2da553e4"],"state_sha256":"9d93e762ea2197b4328a10792d0d72fbc6fdd6eedfd2dd0bb07bfb742926fb81"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+f/Q69rKaVF22usB8TDZxiURNA7ESfieOidt74Xphi6zgbDMHiy9CqUBDbgUH/4wxROyjLtpHVqMhz6yclMIAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-05T15:04:39.871512Z","bundle_sha256":"81740d0cf4da37a3faf2724443942e85d5f579446a2a635cd5a8eabfd0dec7f5"}}