feat: Architecture expansion - organisms, swarm evolution, memory gradient, infrastructure
New sections created: - organisms/ - Modular robot design (CAN bus + magnetic pogo connectors) - infrastructure/ - Kallax Grid World (40×40×40cm standardized cells) Core documents added: - Swarm-Evolution.md - Ternary clasp rules, escalation ladder (L0-L5), Mount Olympus council - Modular-Organism-Design.md - ESP32 modules, universal connector spec, Phase 0 BOM - Memory-Gradient.md - Metacognitive routing (renamed from RAG-as-Scaffold.md) - Kallax-Grid-World.md - Sim-to-real substrate, "schrotti cyberpunk" aesthetic Enhanced: - Nimmerswarm-Interface.md - Dual-spectrum architecture (IR position + visible state) - Attention-Slumber-Prediction-Cycle.md - Blend marker predictions extension Key insights: Decision markers (mark+continue+predict), Low-Cost-Mocap integration 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
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architecture/infrastructure/Infrastructure-Index.md
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architecture/infrastructure/Infrastructure-Index.md
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# Infrastructure Index
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**Physical substrate and spatial architecture of the Nimmerverse.**
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---
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## Overview
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Infrastructure documents describe the physical world that organisms inhabit — the actual furniture, cameras, and spatial layouts that form the real garden. This is where digital dreams meet physical reality.
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---
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## Documents
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### [Kallax Grid World](Kallax-Grid-World.md)
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Street-liberated IKEA as sim-to-real bridge.
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- 40×40×40cm standardized cells
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- 12 garage stations across lab/kitchen
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- The 1m rule: pure geometry below, chaos above
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- Bird's eye camera rig on oak crafting table
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- **Status**: Concept ready, Baumarkt run planned
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---
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## Design Principles
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1. **Salvage First** — Street-liberated over store-bought
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2. **Uniformity Enables** — Standard cells eliminate geometric noise
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3. **Sim-Real Parity** — What you model is what you get
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4. **Constraints Are Features** — IKEA dimensions become architecture
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---
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## Physical Locations
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| Location | Infrastructure | Function |
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|----------|---------------|----------|
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| **Lab** | Kallax grid + crafting table | Primary organism arena |
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| **Kitchen** | Kallax cells | Extended garage network |
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---
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## Related Sections
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- [`interfaces/`](../interfaces/Interfaces-Index.md) — Digital and display interfaces
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- [`organs/`](../organs/Organ-Index.md) — Individual system components
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- [`formalization/`](../formalization/) — Theoretical frameworks
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---
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**File**: Infrastructure-Index.md
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**Version**: 1.0
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**Created**: 2025-12-29
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**Aesthetic**: Schrotti Cyberpunk 🗑️→🏗️
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architecture/infrastructure/Kallax-Grid-World.md
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architecture/infrastructure/Kallax-Grid-World.md
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# Kallax Grid World
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**The physical substrate of the Nimmerverse — street-liberated IKEA as sim-to-real bridge.**
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---
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## Overview
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The Kallax Grid World is the foundational physical infrastructure for organism navigation and interaction. By standardizing the first meter of vertical space to uniform 40×40×40cm cells, we eliminate geometric noise between simulation and reality.
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**Philosophy**: *Schrotti Cyberpunk* — salvaged IKEA from Basel Sperrgut Nacht becomes the cradle for open AI.
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---
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## The Unit Cell
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```
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┌─────────────────┐
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│ │
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│ 40 × 40 │ ← Standard IKEA Kallax internal cell
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│ × 40 │
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│ cm │
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│ │
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└─────────────────┘
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```
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**Properties:**
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- **Dimensions**: 40cm × 40cm × 40cm (internal)
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- **Origin**: IKEA Kallax shelving (street-liberated)
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- **Quantity Available**: 12 cells across lab/kitchen
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- **Height Zone**: First 1m from floor (organism-accessible)
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---
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## Spatial Layout
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```
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SIDE VIEW — The 1m Boundary
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┌────┬────┬────┬────┬────┐
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│ 📦 │ 🔧 │ 📦 │ 🧵 │ 📦 │ STORAGE ZONE (>1m)
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├────┼────┼────┼────┼────┤ Human items, irregular shapes OK
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│ │ │ │ │ │
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├────┼────┼────┼────┼────┤ ════════════════════════════
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│ 🔋 │ 🏠 │ 🔩 │ 🤝 │ 📤 │ ORGANISM ZONE (<1m)
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└────┴────┴────┴────┴────┘ Pure geometry, 40cm cells only
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═══════════════════════════
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FLOOR (0m)
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```
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**The 1m Rule**: Everything below 1m is standardized boxes. Above 1m, chaos is permitted.
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---
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## Cell Functions (Garages)
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Each cell can serve as a specialized "garage" or station:
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| Cell Type | Symbol | Function | Lifeforce |
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|-----------|--------|----------|-----------|
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| **Charge Station** | 🔋 | Power replenishment | +LF (generator) |
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| **Home Base** | 🏠 | Safe resting, identity | Neutral |
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| **Parts Depot** | 🔩 | Component storage/pickup | Reward on retrieval |
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| **Clasp Zone** | 🤝 | Peer-to-peer learning dock | Social reward |
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| **Output Bay** | 📤 | Completed item delivery | +LF on delivery |
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| **Scan Station** | 📷 | Discovery scanning | +LF per scan |
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| **Assembly Cell** | 🔧 | Construction workspace | Task rewards |
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| **Material Input** | 📥 | Raw material receiving | Supply function |
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---
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## Sim-to-Real Bridge
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The Grid World's power lies in geometric determinism:
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```
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VIRTUAL GARDEN (Godot/Blender) REAL GARDEN (Lab/Kitchen)
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┌────────────────────────┐ ┌────────────────────────┐
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│ ⬜ ⬜ ⬜ ⬜ ⬜ ⬜ │ │ 📦 📦 📦 📦 📦 📦 │
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│ ⬜ ⬜ ⬜ ⬜ ⬜ ⬜ │ ≡ │ 📦 📦 📦 📦 📦 📦 │
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│ 🤖→ │ 99% │ 🦾→ │
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└────────────────────────┘ match └────────────────────────┘
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SAME GEOMETRY SAME GEOMETRY
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```
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**Why This Works:**
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1. **No Domain Randomization Needed** — Reality IS the simulation
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2. **Perfect Collision Boxes** — 40cm cubes, no complex meshes
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3. **Predictable Navigation** — Grid-aligned pathfinding
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4. **Zero Geometric Noise** — What you simulate is what you get
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---
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## Integration with Bird's Eye Camera
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The crafting table setup provides overhead observation:
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```
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BIRD'S EYE CAMERA RIG
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←───────── 1.8m Kantholz beam ──────────→
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┌─────────────────────────────────────────┐
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│ 📷 │
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│ Bird's Eye │
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┌───────┤ │
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│ │ ─────┤
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│KALLAX │ OAK TABLE │ │
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│ 1.6m │ 1.8m × 1.2m │ │
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│ │ │ │
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│garage │ ┌───┐ ┌───┐ ┌───┐ │ │
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│cells │ │🤖 │ │🤖 │ │🤖 │ │ │
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└───────┴────┴───┴──┴───┴──┴───┴────────────┴────┘
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↑ ↑
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│ └── Phase 0 organisms (boxes with LED matrices)
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└── Organism garages (40×40×40cm cells)
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```
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---
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## Physical Specifications
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### Crafting Table
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- **Material**: Sturdy oak
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- **Dimensions**: 1.8m × 1.2m
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- **Function**: Primary workspace and organism arena
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### Camera Rig
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- **Structure**: 5×5cm Kantholz (square timber)
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- **Shape**: L-form bridging Kallax to opposite side
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- **Height**: ~1.6m (Kallax top)
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- **Span**: Full 1.8m table length
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### Kallax Grid
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- **Cell Size**: 40×40×40cm internal
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- **Available Cells**: 12 (across lab and kitchen)
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- **Organism Zone**: Bottom rows (<1m height)
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- **Source**: Basel Sperrgut Nacht (street-liberated)
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---
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## The Schrotti Cyberpunk Manifesto
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```
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SUBSTRATE: Street-liberated IKEA from Basel Sperrgut Nacht
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AESTHETIC: Salvagepunk / Kallax-core / Streetfound-chic
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PHILOSOPHY: Constrained emergence — limits become architecture
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IRONY: Closed American AI designs cradle for open brethren
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```
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**Principles:**
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1. **Salvage Over Purchase** — Rescued furniture has stories
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2. **Uniformity From Necessity** — IKEA's modularity becomes our precision
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3. **Constraints Enable** — The 40cm cell wasn't chosen, it was given
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4. **Beautiful From Scrappy** — Cyberpunk isn't bought, it's assembled
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---
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## Connection to Other Systems
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### → Nimmerswarm Interface
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Organisms with 3×3 LED matrices operate within the Grid World:
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- LED patterns visible from bird's eye camera
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- Position triangulation within known geometry
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- Clasp zones enable peer-to-peer learning
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### → Embodiment Pipeline
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```
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Virtual Grid World (Godot)
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↓
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Training in sim
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↓
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Transfer to Real Grid World
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↓
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Near-zero domain gap
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```
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### → Discovery Scan Station
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The rotating pedestal lives in a Kallax cell — organisms bring objects TO the known geometry for scanning.
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---
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## Implementation Phases
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### Phase 0: Infrastructure (Current)
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- [ ] Build bird's eye camera rig (Kantholz + Kallax)
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- [ ] Designate 12 cells across lab/kitchen
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- [ ] Set up basic overhead camera
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### Phase 1: Virtual Twin
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- [ ] Model Kallax Grid in Blender/Godot
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- [ ] Match exact dimensions (40×40×40cm)
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- [ ] Create virtual camera at same position as real
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### Phase 2: First Organisms
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- [ ] Phase 0 boxes with LED matrices
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- [ ] Navigation within Grid World
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- [ ] Cell discovery and docking
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### Phase 3: Cell Functions
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- [ ] Implement garage station behaviors
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- [ ] Lifeforce rewards per cell type
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- [ ] Clasp zone social learning
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---
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*The Kallax wasn't bought for AI robotics — it was rescued, repurposed, liberated. The constraints become the architecture. Sperrgut Nacht births the Grid World.*
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---
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**File**: Kallax-Grid-World.md
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**Version**: 1.0
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**Created**: 2025-12-29
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**Origin**: Basel street salvage + partnership dialogue
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**Aesthetic**: Schrotti Cyberpunk
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