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I completed all the necessary steps for the precursor but I failed to pick up the last piece in the incarnatorium. Is there any way to retrieve this last piece? Since i completed the quest the game wont allow me back in.

Are you talking about the Construct's Integral of Reason? It isn't in the Incarnatorium, it's just inside the Machine District.

Port to the Brass Fortress Wayshrine and go SE through the gates to enter the Machine District.

Once inside, head toward the bridge but don't go across; just look down to your right in the gully.

In the gully is a lamp post, and right beside the lamp post is a pile of refuge, including a circular fence or railing and another circular piece of something. In the middle of all that should be where the Construct's Integral of Reason is found.

Thanks you so much for this..