Physical structures having kinematic compatibility are disclosed. One example of a physical structure includes walls that are connected together such that the physical structure is moveable between a flat-folded state and an expanded state. In the expanded state, the physical structure at least partially encloses a volume. One or more of the walls may include two or more panels. The structure may include locking mechanism(s) to stabilize the structure in the expanded state. The structure may include mechanical assistance component(s) that reduce the force that need be applied to move the structure from the flat-folded state to the expanded state. Physical structures that are moveable between a flat unfolded state and a folded state are also disclosed Such physical structures may include connected panels that are moveable between the flat unfolded state and the folded state. In the folded state, a physical structure may at least partially enclose a volume.