feat: Add IR-Position-Array organ spec + update Organ-Index v1.2

New organ: IR Position Array (8x ESP32-S3 AI CAMs as indoor GPS).
Updated Organ-Index with 4 new organs: Position-Time Beacon,
IR Position Array, Crafting Eye, Godseye.

Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>

architecture/organs/IR-Position-Array.md

@@ -0,0 +1,263 @@
+# IR Position Array Organ
+
+**Room-scale organism tracking via IR beacon triangulation.**
+
+> *"The organisms can't see their own backs. They know themselves through each other."*
+
+---
+
+## Overview
+
+The IR Position Array is **infrastructure** — fixed cameras that run 24/7, tracking all organisms via their IR beacons. This is the nimmerverse's indoor GPS.
+
+---
+
+## Hardware Specification
+
+| Component | Spec | Quantity | Status |
+|-----------|------|----------|--------|
+| **Camera** | ESP32-S3 AI CAM (night vision) | 8× | Received 2026-01-05 |
+| **IR Sensitivity** | Native (night vision LEDs + sensor) | - | Built-in |
+| **Resolution** | OV2640/OV5640 | - | TBD confirm |
+| **Power** | 5V wired (ceiling PSU) | - | Planned |
+| **Enclosure** | 3D printed custom case | 8× | To design |
+
+### Upgrade from Original Spec
+
+| Original (Nimmerswarm-Interface) | Actual |
+|----------------------------------|--------|
+| 4× PS3 Eye (IR filter removed) | 8× ESP32-S3 AI CAM (native IR) |
+| USB hub / extension | WiFi streaming (no USB!) |
+| ~80 CHF cameras | Already purchased |
+
+**8 cameras > 4 cameras = better coverage, more triangulation angles, redundancy.**
+
+---
+
+## Architecture
+
+```
+        CEILING (8× fixed cameras, star power from central PSU)
+
+    ┌─────────────────────────────────────────────────────┐
+    │                                                     │
+    │  [📷1]                [📷2]                [📷3]    │
+    │      ╲                  │                  ╱        │
+    │       ╲    ┌────────────┴────────────┐   ╱         │
+    │        ╲   │                         │  ╱          │
+    │  [📷4]──╲──│     ⚡ CEILING PSU      │─╱──[📷5]    │
+    │          ╲ │    (center, 5V hub)     │╱            │
+    │           ╲└─────────────────────────┘             │
+    │            ╲           │            ╱              │
+    │             ╲──────────┼──────────╱               │
+    │                        │                           │
+    │  [📷6]                 │                  [📷7]    │
+    │                        │                           │
+    │                   [📷8]                            │
+    │                                                    │
+    │          🤖────📍 IR beacon                        │
+    │         organism                                   │
+    │                                                    │
+    └───🚪───────────────────────────────────────────────┘
+         (0,0) origin
+```
+
+---
+
+## Dual-Spectrum Design
+
+From [[../interfaces/Nimmerswarm-Interface]]:
+
+| Spectrum | Channel | Purpose |
+|----------|---------|---------|
+| **Infrared** | IR Position Array | WHERE organism is (24/7, day/night) |
+| **Visible** | 3x3 LED Matrix | WHAT organism is doing (state broadcast) |
+
+**Zero crosstalk. Two independent data streams.**
+
+---
+
+## Processing Pipeline
+
+```
+8× ESP32-S3 AI CAM
+        │
+        │ WiFi/MJPEG streams
+        ▼
+┌─────────────────────────────────┐
+│      PROCESSING NODE            │
+│   (The Womb / RTX 6000 Max-Q)   │
+│                                 │
+│  • Receive 8 camera streams     │
+│  • Detect IR beacon blobs       │
+│  • Multi-camera triangulation   │
+│  • Structure from Motion (SFM)  │
+│  • Output: (x, y, z) @ 30fps    │
+└─────────────────────────────────┘
+        │
+        │ NATS publish
+        ▼
+┌─────────────────────────────────┐
+│  nats://nimmerverse/position/   │
+│                                 │
+│  {                              │
+│    organism_id: "crawler_001",  │
+│    x: 1.234,                    │
+│    y: -2.567,                   │
+│    z: 0.05,                     │
+│    confidence: 0.95,            │
+│    timestamp: 1704499200.123    │
+│  }                              │
+└─────────────────────────────────┘
+        │
+        ▼
+    PHOEBE (ground truth storage)
+```
+
+---
+
+## Algorithm: Low-Cost-Mocap
+
+Standing on shoulders of [Low-Cost-Mocap](https://github.com/jyjblrd/Low-Cost-Mocap) by @jyjblrd:
+
+| Component | Their Solution | Our Adaptation |
+|-----------|----------------|----------------|
+| Multi-camera triangulation | OpenCV SFM bundle adjustment | Same |
+| Camera calibration | `camera_params.json` | Same process |
+| 3D reconstruction | Epipolar geometry | Same math |
+| Markers | Visual markers on drones | IR LEDs on organisms |
+| Communication | ESP32 wireless | NATS messaging |
+
+**Original use:** Indoor drone swarms
+**Our use:** Organism positioning in nimmerhovel
+
+*Respect to the fellow ape who did the groundwork.*
+
+---
+
+## Camera Placement Strategy
+
+### Nimmerhovel Dimensions
+- **X:** 4.5m (along wall from kitchen door)
+- **Y:** 3.75m (into room toward windows)
+- **Z:** 2.04m (floor to sloped ceiling)
+- **Origin:** (0,0,0) at kitchen door corner
+
+### 8-Camera Coverage
+
+| Camera | Position (approx) | Orientation | Coverage |
+|--------|-------------------|-------------|----------|
+| CAM-1 | Corner (0, 0, ~2.0m) | Down 45°, into room | Origin quadrant |
+| CAM-2 | Corner (4.5, 0, ~2.0m) | Down 45°, into room | Right-front |
+| CAM-3 | Corner (0, -3.75, ~2.0m) | Down 45°, toward door | Left-back |
+| CAM-4 | Corner (4.5, -3.75, ~2.0m) | Down 45°, toward door | Right-back |
+| CAM-5-8 | Mid-walls / center | TBD | Fill gaps |
+
+**8 cameras = no blind spots, multiple angles on every point.**
+
+### Mounting
+
+- **Ceiling mount** via 3D printed enclosure with mounting tabs
+- **Angle:** ~45° down from ceiling plane
+- **Power:** Star topology from ceiling PSU (center)
+- **Cable runs:** Max ~3m from PSU to any camera
+
+---
+
+## Lifeforce Economics
+
+| Metric | Value | Rationale |
+|--------|-------|-----------|
+| **Type** | Generator | Provides ground truth |
+| **Rate** | +0.5 LF per position fix | Training data value |
+| **Cost** | ~0.1 LF per frame (infra) | Always-on baseline |
+| **Net** | Positive (generates value) | Core infrastructure |
+
+**Every position fix = verified training data for organism navigation.**
+
+---
+
+## IR Beacon Specification
+
+On each organism:
+
+| Component | Spec |
+|-----------|------|
+| **LED Type** | IR LED (850nm or 940nm) |
+| **Pattern** | Unique pulse code per organism |
+| **Power** | From organism Akku |
+| **Visibility** | Detectable by all 8 cameras |
+
+```
+ORGANISM
+┌─────────────────────┐
+│                     │
+│   ┌───────────────┐ │
+│   │ 3x3 VISIBLE   │ │  ← State broadcast (RGB)
+│   │ LED Matrix    │ │
+│   │ 🔴⚫🟢        │ │
+│   └───────────────┘ │
+│                     │
+│      📍 IR LED      │  ← Position beacon (invisible)
+│                     │
+│   [🔋 Akku]         │  ← Mobile power
+│                     │
+└─────────────────────┘
+```
+
+---
+
+## Integration Points
+
+| System | Interface |
+|--------|-----------|
+| **NATS** | `nats://nimmerverse/position/stream` |
+| **Phoebe** | `organism_positions` table |
+| **S2 Cells** | Position → S2 cell ID at L1 (1cm) resolution |
+| **Virtual Garden** | Ground truth for prediction verification |
+| **Vision Organ** | Separate stream (visible spectrum state recognition) |
+
+---
+
+## Dependencies
+
+| Dependency | Status | Notes |
+|------------|--------|-------|
+| 8× ESP32-S3 AI CAM | Received | Hardware ready |
+| Ceiling PSU | Planned | Power distribution |
+| 3D printed enclosures | To design | Camera mounting |
+| Printer station | Blocked | Waiting on Baumarkt materials |
+| NATS messaging | Planned | Transport layer |
+| The Womb (RTX 6000) | Waiting | Processing node |
+
+---
+
+## Calibration Procedure
+
+1. **Camera intrinsics** — Checkerboard calibration per camera
+2. **Extrinsics** — Multi-camera pose estimation (bundle adjustment)
+3. **Origin alignment** — Align to GPS beacon at (0, 0, 2.0m)
+4. **Verification** — Known position test with ruler measurements
+
+---
+
+## Status
+
+| Phase | Status |
+|-------|--------|
+| Hardware acquisition | Complete |
+| Enclosure design | Not started |
+| Enclosure printing | Blocked (printer station) |
+| Physical mounting | Not started |
+| Camera calibration | Not started |
+| Software pipeline | Not started |
+| Integration test | Not started |
+
+---
+
+**Created**: 2026-01-05
+**Version**: 1.0
+**Based on**: [[../interfaces/Nimmerswarm-Interface]] (Dual-Spectrum Architecture section)
+**Philosophy**: "They know themselves through each other."
+
+*The eyes that never blink. The infrastructure that makes position truth.*

architecture/organs/Organ-Index.md

@@ -75,6 +75,50 @@ che# Organ Architecture Index
 
 ---
 
+### 📍 Position-Time Beacon
+**Host**: M5Stack GPS v2.0 (AT6668) at nimmerhovel origin
+**Function**: Absolute position reference + Stratum-1 NTP time source
+**Stack**: GPS NMEA parsing, PPS signal for NTP, coordinate broadcast
+**Integration**: Provides ground truth origin (47°28'44.915"N, 7°37'07.842"E), time sync for all nimmerverse nodes
+**Status**: 🟡 Hardware ordered, arriving ~Jan 2026
+
+**Detail**: → `organs/Position-Time-Beacon.md` (pending)
+
+---
+
+### 📍 IR Position Array
+**Host**: 8× ESP32-S3 AI CAMs (night vision capable), ceiling-mounted
+**Function**: 24/7 organism tracking via IR beacon triangulation (indoor GPS)
+**Stack**: ESP32-S3 WiFi streaming → RTX 6000 SFM processing → NATS position stream
+**Integration**: Tracks all organisms in real-time, feeds ground truth to phoebe, enables Virtual Garden verification
+**Status**: 🟢 Hardware received Jan 2026
+
+**Detail**: → [`organs/IR-Position-Array.md`](organs/IR-Position-Array.md)
+
+---
+
+### 🔬 Crafting Eye
+**Host**: Raspberry Pi + HQ Camera (12.3MP IMX477) + 8-50mm C-mount zoom lens
+**Function**: Fixed birds-eye view of crafting station, high-resolution work monitoring
+**Stack**: Manual focus/iris (set once), libcamera, high-res stills + video
+**Integration**: Watches dafit's hands during electronics/assembly work, fixed viewing angle
+**Status**: 🟢 Hardware received Jan 2026
+
+**Detail**: → `organs/Crafting-Eye.md` (pending)
+
+---
+
+### 🦉 Godseye
+**Host**: NVIDIA Jetson Orin Nano/NX + PTZ mechanism + motorized zoom lens
+**Function**: Active surveyor of nimmerhovel, on-device vision AI, tracking
+**Stack**: Jetson (CUDA), servo pan/tilt, auto-zoom, YOLO/tracking models
+**Integration**: Autonomous gaze control, can decide where to look, reports to phoebe
+**Status**: ⏸️ Research phase
+
+**Detail**: → `organs/Godseye.md` (pending)
+
+---
+
 ## Organ Design Principles
 
 ### 1. **Lifeforce Economy**
@@ -222,6 +266,10 @@ Zero lifeforce → shutdown, wait for recharge
 | **Motor** | 🟡 Planned (Phase 4) | ESP32 | Pending |
 | **Navigation** | 🟡 Planned (Phase 4) | Edge server | Pending |
 | **Sensory** | 🟡 Conceptual | ESP32 | [`../Nervous-System.md`](../Nervous-System.md) |
+| **Position-Time Beacon** | 🟡 Hardware ordered | M5Stack GPS AT6668 | Pending |
+| **IR Position Array** | 🟢 Hardware received | 8× ESP32-S3 AI CAM | [`IR-Position-Array.md`](organs/IR-Position-Array.md) |
+| **Crafting Eye** | 🟢 Hardware received | Pi HQ + 8-50mm lens | Pending |
+| **Godseye** | ⏸️ Research phase | Jetson Orin + PTZ | Pending |
 
 ---
 
@@ -232,7 +280,7 @@ Zero lifeforce → shutdown, wait for recharge
 ---
 
 **Created**: 2025-12-07
-**Updated**: 2025-12-07
+**Updated**: 2026-01-05
-**Version**: 1.0
+**Version**: 1.2 (added Position-Time Beacon, IR Position Array, Crafting Eye, Godseye; created IR-Position-Array.md)
 
 🌙💜 *Each organ a tool. Each tool a choice. Each choice a lesson in scarcity.*