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# this file more or less describes the grammar used for constructing things out of Lego
#for part examples see http://guide.lugnet.com/partsref/search.cgi?q=XXXX
features:
face: !lego_feature
complement: [face, tire]
shear: 0*N
tensile: 0*N
compression: 2000lbf #fenn guess
rotation: 0*N
stud: !lego_feature
complement: [anti stud] #, stud cup, pin hole]
example: 3005
technique: press_fit #this should be different... somehow
kinematics: revolute
shear: 100lbf #fenn guess
tensile: 1lbf #fenn measured; probably off by a factor of 2
compression: 2000lbf #fenn guess
rotation: 1in*lbf/rev #co-axial, fenn guess
anti stud: !lego_feature
comment: this typically has 3 or 4 contact points, but is not round
complement: [stud, technic stud]
example: 3005
technique: press_fit
kinematics: revolute
stud cup: !lego_feature
complement: anti stud cup #[stud, anti stud cup, technic stud]
example: 4073
technique: press_fit
kinematics: revolute
tensile: 2lbf
anti stud cup: !lego_feature
comment: this occurs when there are 4 studs or technic studs in a square
complement: stud cup
example: 2654
technique: press_fit
kinematics: revolute
tall stud cup: !lego_feature
complement: [stud, anti stud cup]
example: '3062a'
technique: press_fit
kinematics: revolute
technic stud: !lego_feature
complement: anti stud #[anti stud, pin hole, stud cup]
#TODO finish technic
hollow stud : !lego_feature
#assert isinstance( revolute joint)
complement: [bar, anti stud]
example: '3062b' #4081b
technique: press_fit
kinematics: revolute
duplo stud: !lego_feature
complement: duplo anti stud
technique: press_fit
kinematics: revolute
duplo anti stud: !lego_feature
complement: duplo stud
technique: press_fit
kinematics: revolute
bar: !lego_feature
complement: [clip, hollow stud]
example: 3957
technique: [snap_fit, press_fit]
kinematics: revolute
clip: !lego_feature
complement: bar
example: 6019
technique: snap_fit
kinematics: revolute
pin: !lego_feature
complement: pin hole
example: 3673
technique: snap_fit
kinematics: revolute
rotation: 1g*cm/rev #fenn guess
sticky pin: !lego_feature
#TODO finish
technique: snap_fit
kinematics: revolute
rotation: 30g*cm/rev #fenn guess
pin hole: !lego_feature
complement: [pin] #, stud, technic stud, hollow stud]
example: 3700
technique: [snap_fit, press_fit]
kinematics: [revolute, prismatic]
mini pin: !lego_feature
complement: mini pin hole
example: 4488
technique: snap_fit
kinematics: revolute
mini pin hole: !lego_feature
complement: mini pin
example: none #find one then!
technique: snap_fit
kinematics: revolute
short pin: !lego_feature
complement: plate hole
example: 'that step file pin0 or whatever'
technique: snap_fit
kinematics: revolute
plate hole: !lego_feature
# add something about stacking two plates is compatible with pin
complement: shortpin
example: '3709b'
technique: snap_fit
kinematics: revolute
tow ball: !lego_feature
complement: tow ball socket
example: 3184
technique: snap_fit
kinematics: spherical
tow ball socket: !lego_feature
complement: tow ball
example: 3183
technique: snap_fit
kinematics: spherical
magnet: !lego_feature
# do magnets have the same stub axle as wheels?
complement: magnet
example: 73092
technique: positioning
kinematics: planar
wheel holder: !lego_feature
# is this the same as 2607?
complement: wheel axle
example: 8
technique: snap_fit
kinematics: revolute
wheel axle: !lego_feature # snap fit?
complement: wheel holder
example: 3464
technique: snap_fit
kinematics: revolute
wheel rim: !lego_feature
complement: tire inner
example: 3464
technique: snap_fit
kinematics: revolute
tire inner: !lego_feature
complement: wheel rim
technique: snap_fit
kinematics: revolute
tire outer: !lego_feature
complement: edge
technique: positioning
kinematics: gear
swivel top: !lego_feature
# is this really a minifig shoulder?
complement: swivel bottom
example: 3679
technique: snap_fit
kinematics: revolute
swivel bottom: !lego_feature
# is this really a minifig shoulder hole?
complement: swivel top
example: 3680
technique: snap_fit
kinematics: revolute
turntable top: !lego_feature
complement: turntable bottom
example: 3404
technique: snap_fit
kinematics: revolute
turntable bottom: !lego_feature
complement: turntable top
example: 3403
technique: snap_fit
kinematics: revolute
scissor hinge top: !lego_feature
complement: scissor hinge bottom
example: 2430
technique: snap_fit
kinematics: hinge
scissor hinge bottom: !lego_feature
complement: scissor hinge top
example: 2429
technique: snap_fit
kinematics: hinge
elevation hinge holder: !lego_feature
complement: elevation hinge
example: 3937
technique: snap_fit
kinematics: hinge
elevation hinge: !lego_feature
complement: elevation hinge holder
example: 3938
technique: snap_fit
kinematics: hinge
flat hinge2: !lego_feature
complement: flat hinge3
example: 4276
technique: snap_fit
kinematics: hinge
flat hinge3: !lego_feature
complement: flat hinge2
example: 2452
technique: snap_fit
kinematics: hinge
wide hinge m: !lego_feature
complement: wide hinge f
example: 4315
technique: snap_fit
kinematics: hinge
wide hinge f: !lego_feature
complement: wide hinge m
example: 2872
technique: snap_fit
kinematics: hinge
trailer hinge m: !lego_feature
complement: [trailer hinge f, clip]
example: 3639
technique: snap_fit
kinematics: hinge
trailer hinge f: !lego_feature
complement: [trailer hinge m, bar]
example: 3640
technique: snap_fit
kinematics: hinge
round hinge 2: !lego_feature
complement: round hinge 3
example: 6048
technique: snap_fit
kinematics: hinge
round hinge 3: !lego_feature
complement: round hinge 2
example: 6217
technique: snap_fit
kinematics: hinge
locking hinge 1: !lego_feature
# sorta iffy on these as i've never seen them
complement: locking hinge 2
example: 30364
technique: snap_fit
kinematics: [hinge, discrete_angle]
angle: 20deg #?
locking hinge 2: !lego_feature
complement: locking hinge 1
example: 30365
technique: snap_fit
kinematics: [hinge, discrete_angle]
angle: 20deg #?
axle: !lego_feature
complement: [anti axle, pin hole]
example: 3705
technique: [press_fit, positioning]
kinematics: [revolute, prismatic, discrete_angle]
angle: rev/4
anti axle: !lego_feature
complement: axle
example: 32064
technique: press_fit
kinematics: [prismatic, discrete_angle]
angle: rev/4
toothed joint: !lego_feature
# there are 16 possible mates between two toothed joint interfaces
complement: toothed joint
example: 4263
technique: press_fit
kinematics: discrete_angle
angle: rev/16
minifig neck: !lego_feature
complement: [minifig neck hole, anti stud]
example: 973
technique: press_fit
kinematics: revolute
minifig neck hole: !lego_feature
complement: [minifig neck, stud]
example: 'standard lego head'
technique: press_fit
kinematics: revolute
minifig backpack: !lego_feature #not actually a press fit; it's loose
complement: minifig torso
example: 'wtf srsly where is it'
technique: positioning
kinematics: discrete_angle
angle: rev/2
minifig torso: !lego_feature #not actually a press fit; it's loose
# for backpacks and armor and so on
complement: minifig backpack
example: 3838
technique: positioning
kinematics: discrete_angle
angle: rev/2
minifig wrist: !lego_feature #is this a snap fit?
complement: minifig wrist hole
example: 983
technique: snap_fit
kinematics: revolute
minifig wrist hole: !lego_feature #is this a snap fit?
complement: minifig wrist
example: 976
technique: snap_fit
kinematics: revolute
minifig shoulder: !lego_feature
complement: minifig shoulder hole
example: 976
technique: snap_fit
kinematics: revolute
minifig shoulder hole: !lego_feature
complement: minifig shoulder
example: 973
technique: snap_fit
kinematics: revolute
minifig waist: !lego_feature
complement: minifig hip
example: 973
technique: press_fit
kinematics: revolute
minifig hip stud: !lego_feature
# does this really not interface with anything else?
complement: minifig waist
example: 970
technique: press_fit
kinematics: discrete_angle
angle: rev/4
minifig leg pin: !lego_feature
complement: minifig leg hole
example: 970
technique: snap_fit
kinematics: hinge
minifig leg hole: !lego_feature
complement: minifig leg pin
example: 971
technique: snap_fit
kinematics: hinge
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