Franka tic-tac-toe in Isaac Lab driven by a Strands Agent: 10 games, 90 episodes (LeRobot v3.0)

LICENSE.md

@@ -0,0 +1,21 @@
+# License
+
+**Generated content in this repository** (recorded trajectories, rendered camera video, playback clips, final-board images, game logs and
+Strands Agent transcripts) was produced with NVIDIA Isaac Sim 6.1.0.0 / Isaac Lab 3.0.0rc1 via strands-robots and is released under the
+**Creative Commons Attribution 4.0 International (CC-BY-4.0)** license — https://creativecommons.org/licenses/by/4.0/.
+Attribution: "cagataydev / strands-robots Isaac Lab showcase (strands-labs/robots#4227)".
+The table, board, grid, trays and X/O tokens are Isaac Lab procedural primitives (cuboids/cylinders) defined in `examples/ttt_isaac.py`.
+
+This relies on the NVIDIA Omniverse License Agreement §2.1, which permits distributing user-generated content made with
+Omniverse "such as video, audio, stills, models, 3D assets and screen captures".
+
+**Not included / not licensed here:** NVIDIA Content (robot and scene USD assets from the Isaac Lab / Isaac Sim asset packs,
+here only the Franka Panda USD, loaded via `isaaclab_assets.FRANKA_PANDA_HIGH_PD_CFG`) is not redistributed; `examples/ttt_isaac.py` only references asset paths. Using those assets
+or running Isaac Sim requires your own acceptance of the NVIDIA Isaac Sim / Omniverse License Agreement
+(https://docs.omniverse.nvidia.com/dev-guide/latest/common/NVIDIA_Omniverse_License_Agreement.html).
+
+**Code:** `examples/*.py` / `run_server.sh` build on Isaac Lab APIs (Isaac Lab: BSD-3-Clause).
+`examples/*.py` are provided under Apache-2.0 (as strands-robots).
+
+Franka and Panda are trademarks of Franka Robotics GmbH; NVIDIA, Isaac Sim and Isaac Lab are NVIDIA trademarks. No endorsement
+by either is implied. Simulation-only research artifact, provided AS IS without warranty.

README.md

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+---
+license: other
+license_name: cc-by-4.0-generated-with-nvidia-isaac
+license_link: LICENSE.md
+tags:
+- lerobot
+- LeRobot
+- isaaclab
+- isaac-sim
+- strands-robots
+- strands-agents
+- robotics
+- simulation
+- franka
+- pick-and-place
+- tic-tac-toe
+- llm-agent
+task_categories:
+- robotics
+pretty_name: Franka plays tic-tac-toe in Isaac Lab, driven by a Strands Agent (recorded with strands-robots)
+size_categories:
+- 10K<n<100K
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# strands-isaaclab-tictactoe
+
+**A Franka arm in NVIDIA Isaac Lab plays tic-tac-toe. A [Strands Agent](https://github.com/strands-agents/sdk-python) picks the moves
+through four game tools, the arm picks each token from a tray and puts it on the board, and every move is recorded as a
+LeRobot v3.0 episode with [strands-robots](https://github.com/strands-labs/robots)' `DatasetRecorder`.**
+
+![one full game: overhead (left) and front (right) cameras, 4x speed](playback.gif)
+
+*Game `g00`: the agent plays X against a minimax opponent and draws. Left: overhead camera, right: front camera, 4× speed.
+Full-speed [mp4](playback.mp4) · [final board](final_board_sbs.png) · [agent transcript](transcript.md).*
+
+| | |
+|---|---|
+| games | **10**: 6 agent vs minimax (agent alternates X/O), 4 agent vs agent. **All 10 draws.** |
+| episodes / frames | **90 / 29,070** at 30 fps (1 episode = 1 pick-and-place move, ~10.8 s) |
+| cameras | `observation.images.overhead` and `observation.images.front`, 320×240 RTX, fixed |
+| `observation.state` | 31-D = 9 Franka joint pos + end-effector pos (3) + gripper command (1) + board one-hot (9 cells × X/O = 18) |
+| `action` | 9-D joint position targets (7 arm + 2 fingers) from the scripted DiffIK pick-and-place controller |
+| task strings | 13, e.g. `"place X in the center cell"`, `"place O in the top-left cell"` |
+| placements | **90 / 90 (100 %)**, all first attempt · placement error **mean 1.78 mm, max 4.2 mm** |
+| vision check | overhead-camera board vs simulator: **1 disagreement** in 100+ board reads (a stale frame right after reset, see Limitations) |
+| checks | strands `verify_dataset` ok · `LeRobotDataset` load ok · video decode ok · NaN/inf = 0 · Hub round-trip ok |
+
+## Results
+
+| game | mode | agent plays | result | placements | error mean / max (mm) | vision disagreements | wall (s) |
+|---|---|---|---|---|---|---|---|
+| g00 | agent vs minimax | X | draw | 9/9 | 1.78 / 4.2 | 1 | 162.9 |
+| g01 | agent vs minimax | O | draw | 9/9 | 1.76 / 3.5 | 0 | 151.7 |
+| g02 | agent vs minimax | X | draw | 9/9 | 1.78 / 4.2 | 0 | 157.9 |
+| g03 | agent vs minimax | O | draw | 9/9 | 1.76 / 3.5 | 0 | 152.8 |
+| g04 | agent vs minimax | X | draw | 9/9 | 1.78 / 4.2 | 0 | 159.6 |
+| g05 | agent vs minimax | O | draw | 9/9 | 1.82 / 3.5 | 0 | 152.6 |
+| g06 | agent vs agent | X + O | draw | 9/9 | 1.78 / 4.2 | 0 | 191.5 |
+| g07 | agent vs agent | X + O | draw | 9/9 | 1.78 / 4.2 | 0 | 190.3 |
+| g08 | agent vs agent | X + O | draw | 9/9 | 1.78 / 4.2 | 0 | 192.4 |
+| g09 | agent vs agent | X + O | draw | 9/9 | 1.78 / 4.2 | 0 | 189.6 |
+
+About 105 s of each game is the robot (9 moves × ~11.7 s) and the rest is model time. Total ≈ 28 min on one L40S.
+Per-game logs are in [`games/`](games): `game.json` (summary + every LLM turn), `moves.jsonl` (per-move placement error,
+grasp, vision board), `transcript.md` (the full agent conversation with tool calls).
+
+## How it works
+
+```
+ strands venv                                            Isaac Lab venv (strands_robots on PYTHONPATH)
+ ┌──────────────────────────────────────┐  JSON lines   ┌─────────────────────────────────────────────┐
+ │ Agent(tools=[get_board, place_mark,   │  over TCP     │ ttt_server.py (Isaac Lab InteractiveScene)   │
+ │              reset_game, render_board])│ ───────────▶ │  Franka HIGH_PD + 3×3 board + 5 X / 5 O tokens│
+ │ opponent: minimax or a 2nd Agent      │ ◀─────────── │  DiffIK pick→place, overhead + front cameras  │
+ │ referee: turn order, legality         │               │  strands DatasetRecorder: 1 move = 1 episode  │
+ └──────────────────────────────────────┘               └─────────────────────────────────────────────┘
+```
+
+The game tools are plain Strands `@tool` functions (from [`examples/ttt_tools.py`](examples/ttt_tools.py), trimmed):
+
+```python
+from strands import Agent, tool
+from strands.models import BedrockModel
+
+@tool
+def get_board() -> dict:
+    """Look at the board: simulator truth + the overhead camera's view, whose turn it is, game status."""
+    r = game.state()                      # server: sim token poses -> cells, and colour segmentation on the overhead camera
+    return {"status": "success", "content": [{"text": ascii_board(r["board"]) + f"\ncamera agrees with sim: {r['agree']}"}]}
+
+@tool
+def place_mark(cell: str) -> dict:
+    """Have the robot pick one of your tokens from the tray and place it on a cell ("center", "top-left", 1-9)."""
+    r = game.place(mark, parse_cell(cell), by=name)   # server: DiffIK pick -> place, records one DatasetRecorder episode
+    return {"status": "success", "content": [{"text": f"placed {mark} in {cell} (error {1000 * r['place_err_m']:.1f} mm)"}]}
+
+agent = Agent(model=BedrockModel(model_id="global.anthropic.claude-opus-5-5"),
+              tools=[get_board, place_mark, reset_game, render_board],
+              system_prompt="You are playing tic-tac-toe ... call place_mark exactly once per turn ...")
+agent("Let's play tic-tac-toe. You are X. Place your marks with the robot. You go first.")
+```
+
+On the server side each move is written through strands' recorder:
+
+```python
+from strands_robots.dataset_recorder import DatasetRecorder
+
+rec = DatasetRecorder.create(
+    repo_id="cagataydev/strands-isaaclab-tictactoe", fps=30, robot_type="franka_panda",
+    joint_names=JOINTS, action_names=ACTIONS,                     # 9 Franka joints / 9 joint targets
+    camera_keys=["overhead", "front"], camera_dims={"overhead": (240, 320), "front": (240, 320)},
+    extra_state_specs=[("ee_pos", ["x", "y", "z"]), ("gripper_cmd", ["close"]),
+                       ("board", [f"{cell}.{m}" for cell in CELL_NAMES for m in "XO"])],
+    task="play tic-tac-toe", root="runs/prod1/ds", use_videos=True)
+for obs, act in move_frames:                      # every physics/render frame of one pick-and-place
+    rec.add_frame(obs, act, task="place X in the center cell", camera_keys=["overhead", "front"])
+rec.save_episode()                                # one episode per move; rec.finalize() at the end of the run
+```
+
+### Reproduce
+
+```bash
+# Isaac Lab in its OWN venv (its pins clash with strands; strands never imports it)
+uv venv --python 3.12 ~/il && uv pip install --python ~/il/bin/python --prerelease=allow \
+  --index https://pypi.nvidia.com --index-strategy unsafe-best-match "isaaclab[rsl-rl,isaacsim]==3.0.0rc1" lerobot==0.6.1
+export OMNI_KIT_ACCEPT_EULA=YES          # you accept the NVIDIA Omniverse / Isaac Sim EULA yourself
+git clone https://github.com/strands-labs/robots && export STRANDS=$PWD/robots
+# 1. start the Isaac Lab game server (logs to a file, protocol on a TCP port)
+cd examples && PYTHONPATH=$STRANDS ~/il/bin/python ttt_server.py --port 8765 --log server.log &
+# 2. play from the strands venv (needs Bedrock credentials; set STRANDS_MODEL_ID)
+PYTHONPATH=$STRANDS python play_games.py --port 8765 --schedule agent_vs_minimax:6,agent_vs_agent:4 --alternate \
+  --video all --out runs/prod1 --record runs/prod1/ds --repo_id cagataydev/strands-isaaclab-tictactoe
+```
+`ttt_server.py --mock` runs the whole agent/tool/vision/recording stack on CPU with a numpy stand-in for Isaac Lab.
+
+## Use it
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+ds = LeRobotDataset("cagataydev/strands-isaaclab-tictactoe")
+print(ds.num_episodes, ds.num_frames, ds.fps)          # 90 29070 30
+f = ds[0]; f["observation.state"].shape, f["action"].shape, f["observation.images.overhead"].shape, f["task"]
+# (31,) (9,) (3, 240, 320) 'place X in the center cell'
+```
+
+Check it with strands:
+
+```python
+from huggingface_hub import snapshot_download
+from strands_robots.verify_dataset import verify_dataset
+
+root = snapshot_download("cagataydev/strands-isaaclab-tictactoe", repo_type="dataset")
+report = verify_dataset(root, expected=90)
+assert report["ok"], report["problems"]
+```
+
+The language-conditioned task strings make this a small goal-conditioned pick-and-place set (13 goals), e.g. for
+behaviour cloning with strands' `lerobot_local` train_policy provider (not run for this card):
+
+```python
+from strands_robots.tools.train_policy import train_policy
+train_policy(action="train", provider="lerobot_local", dataset_repo_id="cagataydev/strands-isaaclab-tictactoe",
+             output_dir="runs/smolvla_ttt", steps=20000, batch_size=32, extra={"policy_type": "smolvla"})
+```
+
+## Provenance
+
+- **strands-robots**: `main` with [strands-labs/robots#4227](https://github.com/strands-labs/robots/pull/4227) (`DatasetRecorder`, `verify_dataset`); recorded from `feat/isaaclab-trainer` @ `fa66fc68`
+- **Strands Agents** with Amazon Bedrock, model `global.anthropic.claude-opus-5-5`; opponent: exact minimax
+- **Isaac Lab** 3.0.0rc1 · **Isaac Sim** 6.1.0.0 · PhysX · `FRANKA_PANDA_HIGH_PD_CFG` · DifferentialIK (DLS) · lerobot 0.6.1
+- **GPU**: 1× NVIDIA L40S (46 GB) · recorded 2026-09-29, run `prod1`
+
+## Limitations
+
+- **Simulation only.** No real Franka; no sim-to-real claims.
+- **The robot motion is scripted**, not learned: the agent chooses *where*, a DiffIK pick-and-place controller does *how*.
+  The dataset is expert demonstrations of that controller, labelled by the agent's chosen goal.
+- **Little variety in games.** Minimax is deterministic and the model plays nearly the same way every time, so the 10 games
+  end on only **3 distinct final boards** (all agent-vs-agent games and every agent-as-X game repeat the same sequence).
+  Moves and frames differ slightly between games; the goals do not. Perfect play from both sides always draws.
+- **Vision**: the one disagreement was a stale RTX frame read right after a reset (the overhead camera still showed the
+  previous game's O). The agent noticed it, trusted the simulator and said so. Fix: render a few frames after reset.
+- Isaac Lab runs in a separate process because its pins (Python 3.12, torch, warp) clash with the strands venv; strands has
+  no built-in tool for step-by-step control of an Isaac Lab scene yet.
+
+## License
+
+**`license: other`: our generated data under CC-BY-4.0, plus NVIDIA notices.** See [LICENSE.md](LICENSE.md). The recorded
+trajectories, camera video, GIF/PNG and transcripts are user-generated content made with Isaac Sim (NVIDIA Omniverse License
+Agreement §2.1 allows distributing it); the table, board and tokens are procedural primitives. **No NVIDIA Content is
+redistributed**: the Franka Panda USD comes from NVIDIA's asset server under your own EULA acceptance. Code in `examples/`
+is Apache-2.0 (as strands-robots) on top of Isaac Lab (BSD-3-Clause). Running Isaac Sim requires accepting the NVIDIA EULA.

data/chunk-000/file-000.parquet

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examples/play_games.py

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+"""Play full tic-tac-toe games: Strands Agent (X) vs minimax, or Strands Agent vs Strands Agent.
+
+  PYTHONPATH=$T/isaaclab-wt $T/.venv/bin/python play_games.py --port 8765 --mode agent_vs_minimax --games 6 \
+      --out ../runs/batch1 [--video_first] [--record ROOT --repo_id cagataydev/x]
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import sys
+import time
+
+sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+
+import ttt_game as G  # noqa: E402
+from ttt_tools import Client, Game, make_tools  # noqa: E402
+
+SYSTEM = (
+    "You are playing tic-tac-toe against an opponent on a real table in a robot simulator. A Franka robot arm "
+    "moves the pieces for you: red cubes are X, blue cylinders are O. Use get_board to look at the board, then "
+    "call place_mark exactly once per turn with the cell you choose. Play to win; if you cannot win, block and "
+    "play for a draw. After placing your mark, reply with one short sentence explaining your move."
+)
+
+
+def make_agent(mark: str, game: Game, name: str):
+    from strands import Agent
+    from strands.models import BedrockModel
+
+    tools, turn = make_tools(game, mark, name)
+    model = BedrockModel(model_id=os.environ["STRANDS_MODEL_ID"], max_tokens=2000)
+    agent = Agent(model=model, tools=tools, system_prompt=SYSTEM, callback_handler=None)
+    return agent, turn
+
+
+def agent_turn(agent, turn, game: Game, mark: str, prompt: str, tries: int = 3) -> dict:
+    turn["placed"] = False
+    n0 = len(game.moves)
+    msgs = []
+    for k in range(tries):
+        t0 = time.time()
+        res = agent(prompt if k == 0 else f"You have not placed an {mark} yet this turn. Call place_mark now.")
+        msgs.append({"prompt": prompt if k == 0 else "(nudge)", "reply": str(res).strip(), "llm_s": round(time.time() - t0, 1)})
+        if turn["placed"]:
+            break
+    return {"placed": turn["placed"], "moves_added": len(game.moves) - n0, "msgs": msgs}
+
+
+def transcript_md(agent, title: str) -> str:
+    out = [f"# {title}\n"]
+    for m in agent.messages:
+        role = m.get("role")
+        for c in m.get("content", []):
+            if "text" in c and c["text"].strip():
+                out.append(f"**{role}:** {c['text'].strip()}\n")
+            elif "toolUse" in c:
+                tu = c["toolUse"]
+                out.append(f"**{role} → tool `{tu['name']}`** `{json.dumps(tu.get('input', {}))}`\n")
+            elif "toolResult" in c:
+                tr = c["toolResult"]
+                txt = " ".join(x.get("text", "") for x in tr.get("content", []) if isinstance(x, dict))
+                out.append(f"**tool result ({tr.get('status')}):**\n```\n{txt.strip()}\n```\n")
+    return "\n".join(out)
+
+
+def play_one(client: Client, mode: str, gid: str, out: str, agent_mark: str = "X") -> dict:
+    gdir = os.path.join(out, gid)
+    os.makedirs(gdir, exist_ok=True)
+    os.environ["TTT_RUN_DIR"] = gdir
+    mlog = open(os.path.join(gdir, "moves.jsonl"), "w", buffering=1)
+    game = Game(client, log_cb=lambda mv: mlog.write(json.dumps(mv) + "\n"))
+    game.reset()
+    t0 = time.time()
+    players = {}
+    if mode == "agent_vs_minimax":
+        a, t = make_agent(agent_mark, game, f"agent-{agent_mark}")
+        players[agent_mark] = ("agent", a, t)
+        players["O" if agent_mark == "X" else "X"] = ("minimax", None, None)
+    elif mode == "agent_vs_agent":
+        for m in ("X", "O"):
+            a, t = make_agent(m, game, f"agent-{m}")
+            players[m] = ("agent", a, t)
+    else:
+        raise ValueError(mode)
+    llm = []
+    last = None
+    first = {m: True for m in "XO"}
+    stuck = 0
+    while G.status(game.board) == "in progress" and stuck < 3:
+        m = G.to_move(game.board)
+        kind, a, t = players[m]
+        n0 = len(game.moves)
+        if kind == "minimax":
+            i = G.minimax_move(game.board, m)
+            r = game.place(m, i, by="minimax")
+            if not r.get("success"):
+                stuck += 1
+        else:
+            opp = "O" if m == "X" else "X"
+            if first[m]:
+                p = (f"Let's play tic-tac-toe. You are {m}. Place your marks with the robot. "
+                     + ("You go first." if m == "X" else f"Your opponent ({opp}) went first: {last}." if last else ""))
+                first[m] = False
+            else:
+                p = f"Your opponent ({opp}) moved: {last}. Your turn."
+            r = agent_turn(a, t, game, m, p)
+            llm.append({"mark": m, **r})
+            if not r["placed"]:
+                stuck += 1
+        if len(game.moves) > n0 and game.moves[-1].get("success"):
+            mv = game.moves[-1]
+            last = f"the robot placed {mv['mark']} in the {mv['cell_name']} cell"
+            stuck = 0
+    game.state()
+    res = {
+        "game": gid, "mode": mode, "agent_mark": agent_mark if mode == "agent_vs_minimax" else "XO",
+        "result": G.status(game.board), "winner": G.winner(game.board), "final_board": game.board,
+        "n_moves": len(game.moves), "placements_ok": sum(bool(m.get("success")) for m in game.moves),
+        "grasp_ok": sum(bool(m.get("grasp_ok")) for m in game.moves),
+        "mean_err_mm": round(1000 * sum(m.get("place_err_m") or 0 for m in game.moves) / max(1, len(game.moves)), 2),
+        "max_err_mm": round(1000 * max([m.get("place_err_m") or 0 for m in game.moves] or [0]), 2),
+        "vision_disagreements": game.disagreements, "wall_s": round(time.time() - t0, 1),
+        "robot_s": round(sum(m.get("wall_s") or 0 for m in game.moves), 1),
+        "llm_s": round(sum(x["llm_s"] for r in llm for x in r["msgs"]), 1),
+        "agent_turns_without_move": sum(not r["placed"] for r in llm), "complete": G.status(game.board) != "in progress",
+    }
+    with open(os.path.join(gdir, "transcript.md"), "w") as f:
+        for m, (kind, a, _) in players.items():
+            if kind == "agent":
+                f.write(transcript_md(a, f"{gid} — agent playing {m}") + "\n\n")
+        f.write(f"## Result: {res['result']}\n\n```\n{G.ascii_board(game.board)}\n```\n")
+    json.dump({"result": res, "llm_turns": llm}, open(os.path.join(gdir, "game.json"), "w"), indent=1)
+    client.call("render", path=os.path.join(gdir, "final"))
+    return res
+
+
+def main():
+    ap = argparse.ArgumentParser()
+    ap.add_argument("--port", type=int, default=8765)
+    ap.add_argument("--mode", default="agent_vs_minimax", choices=["agent_vs_minimax", "agent_vs_agent"])
+    ap.add_argument("--games", type=int, default=1)
+    ap.add_argument("--agent_mark", default="X")
+    ap.add_argument("--alternate", action="store_true", help="agent alternates X/O each game (vs minimax)")
+    ap.add_argument("--out", required=True)
+    ap.add_argument("--prefix", default="g")
+    ap.add_argument("--video", default="first", choices=["none", "first", "all"])
+    ap.add_argument("--record", default=None, help="dataset root (strands DatasetRecorder in the server)")
+    ap.add_argument("--repo_id", default="local/ttt")
+    ap.add_argument("--shutdown", action="store_true")
+    ap.add_argument("--schedule", default=None, help='e.g. "agent_vs_minimax:6,agent_vs_agent:4" (overrides --mode/--games)')
+    a = ap.parse_args()
+    a.out = os.path.abspath(a.out)
+    a.record = os.path.abspath(a.record) if a.record else None
+    os.makedirs(a.out, exist_ok=True)
+    c = Client(a.port)
+    print(c.call("ping"), flush=True)
+    if a.record:
+        print(c.call("record_open", root=a.record, repo_id=a.repo_id), flush=True)
+    results = []
+    plan = []
+    for part in (a.schedule.split(",") if a.schedule else [f"{a.mode}:{a.games}"]):
+        md, n = part.split(":")
+        plan += [(md, j) for j in range(int(n))]
+    for k, (mode, j) in enumerate(plan):
+        a.mode = mode
+        gid = f"{a.prefix}{k:02d}_{a.mode}"
+        mark = ("X" if j % 2 == 0 else "O") if a.alternate else a.agent_mark
+        vid = a.video == "all" or (a.video == "first" and j == 0)
+        if vid:
+            c.call("video_open", path=os.path.join(a.out, gid, "game.mp4"), every=2)
+        try:
+            r = play_one(c, a.mode, gid, a.out, mark)
+        except Exception as e:  # noqa: BLE001
+            r = {"game": gid, "mode": a.mode, "error": f"{type(e).__name__}: {e}", "complete": False}
+        if vid:
+            r["video"] = c.call("video_close").get("video")
+        results.append(r)
+        print(json.dumps(r), flush=True)
+        json.dump(results, open(os.path.join(a.out, "results.json"), "w"), indent=1)
+    if a.record:
+        print(c.call("record_close"), flush=True)
+    if a.shutdown:
+        c.call("shutdown")
+
+
+if __name__ == "__main__":
+    main()

examples/run_server.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+# usage: run_server.sh PORT LOGNAME [extra args]  -> detached Isaac Lab ttt server
+T=${T:-$HOME/strands-robots-isaac-test}; D=$T/tictactoe
+PORT=${1:-8765}; NAME=${2:-server}; shift 2
+cd $D/src
+OMNI_KIT_ACCEPT_EULA=YES PYTHONPATH=$T/isaaclab-wt nohup setsid $T/isaaclab-research/.venv/bin/python ttt_server.py --port $PORT --log $D/runs/$NAME.log "$@" > $D/runs/$NAME.out 2>&1 &
+echo $! > $D/runs/$NAME.pid; echo "pid $(cat $D/runs/$NAME.pid)"

examples/ttt_game.py

@@ -0,0 +1,136 @@
+"""Pure-python tic-tac-toe: board, cell names, winner, minimax. No sim, no strands imports.
+
+Board = list of 9 chars in {"X", "O", " "}, row-major, index 0 = top-left as seen in the OVERHEAD camera
+(image top = far side of the table from the robot = +x, image left = +y).
+"""
+
+from __future__ import annotations
+
+import functools
+import re
+
+ROWS = ("top", "middle", "bottom")
+COLS = ("left", "center", "right")
+CELL_NAMES = [("center" if (r, c) == ("middle", "center") else f"{r}-{c}") for r in ROWS for c in COLS]
+LINES = [(0, 1, 2), (3, 4, 5), (6, 7, 8), (0, 3, 6), (1, 4, 7), (2, 5, 8), (0, 4, 8), (2, 4, 6)]
+
+# geometry (metres, env frame = robot base). Board centre and pitch shared with the server.
+BOARD_CENTER = (0.50, 0.00)
+PITCH = 0.10
+
+
+def cell_xy(i: int) -> tuple[float, float]:
+    r, c = divmod(i, 3)
+    return (BOARD_CENTER[0] + (1 - r) * PITCH, BOARD_CENTER[1] + (1 - c) * PITCH)
+
+
+def xy_to_cell(x: float, y: float, tol: float = 0.045) -> int | None:
+    """Nearest cell index if within tol (m) of its centre along both axes, else None."""
+    best = min(range(9), key=lambda i: (cell_xy(i)[0] - x) ** 2 + (cell_xy(i)[1] - y) ** 2)
+    cx, cy = cell_xy(best)
+    return best if abs(cx - x) <= tol and abs(cy - y) <= tol else None
+
+
+_ALIASES = {
+    "centre": "center", "mid": "middle", "upper": "top", "lower": "bottom", "central": "center",
+}
+
+
+def parse_cell(s: str | int) -> int:
+    """'top-left' | 'top left' | 'center' | 'middle' | '1'..'9' | 1..9 | 'a1'..'c3' (col letter, row digit) → 0..8."""
+    if isinstance(s, int):
+        if 1 <= s <= 9:
+            return s - 1
+        raise ValueError(f"cell number must be 1..9, got {s}")
+    t = str(s).strip().lower()
+    if re.fullmatch(r"[1-9]", t):
+        return int(t) - 1
+    m = re.fullmatch(r"([abc])([123])", t)
+    if m:
+        return (int(m.group(2)) - 1) * 3 + "abc".index(m.group(1))
+    for k, v in _ALIASES.items():
+        t = re.sub(rf"\b{k}\b", v, t)
+    t = re.sub(r"[\s_]+", "-", t).strip("-")
+    if t in ("center", "middle", "middle-middle", "center-center"):
+        return 4
+    words = t.split("-")
+    r = next((ROWS.index(w) for w in words if w in ROWS), None)
+    c = next((COLS.index(w) for w in words if w in ("left", "right")), None)
+    mid = any(w in ("middle", "center") for w in words)
+    if r is None and c is not None and mid:
+        r = 1
+    if c is None and r is not None and (r != 1 and mid or words.count("middle") + words.count("center") > 1):
+        c = 1
+    if r is None or c is None:
+        raise ValueError(f"cannot parse cell {s!r}; use one of {CELL_NAMES} or 1-9")
+    return r * 3 + c
+
+
+def winner(b: list[str]) -> str | None:
+    for a, c, d in LINES:
+        if b[a] != " " and b[a] == b[c] == b[d]:
+            return b[a]
+    return None
+
+
+def is_full(b: list[str]) -> bool:
+    return all(v != " " for v in b)
+
+
+def status(b: list[str]) -> str:
+    w = winner(b)
+    return f"{w} wins" if w else ("draw" if is_full(b) else "in progress")
+
+
+def to_move(b: list[str]) -> str:
+    nx, no = b.count("X"), b.count("O")
+    return "X" if nx == no else "O"
+
+
+def ascii_board(b: list[str]) -> str:
+    rows = [" | ".join(v if v != " " else str(r * 3 + k + 1) for k, v in enumerate(b[r * 3:r * 3 + 3])) for r in range(3)]
+    return "\n---------\n".join(" " + r for r in rows)
+
+
+@functools.lru_cache(maxsize=None)
+def _minimax(bs: str, player: str) -> tuple[int, int]:
+    """(score from X's view: +1 X wins, -1 O wins, 0 draw; best move) for `player` to move."""
+    b = list(bs)
+    w = winner(b)
+    if w:
+        return (1 if w == "X" else -1), -1
+    if is_full(b):
+        return 0, -1
+    best = None
+    for i in range(9):
+        if b[i] != " ":
+            continue
+        b[i] = player
+        s, _ = _minimax("".join(b), "O" if player == "X" else "X")
+        b[i] = " "
+        # prefer quicker wins/slower losses: tie-break by centre, corners, edges order
+        if best is None or (s > best[0] if player == "X" else s < best[0]):
+            best = (s, i)
+    return best  # type: ignore[return-value]
+
+
+_PREF = [4, 0, 2, 6, 8, 1, 3, 5, 7]
+
+
+def minimax_move(b: list[str], player: str | None = None) -> int:
+    player = player or to_move(b)
+    target, _ = _minimax("".join(b), player)
+    for i in range(9):  # take an immediate win first
+        if b[i] == " " and winner(b[:i] + [player] + b[i + 1:]) == player:
+            return i
+    # among optimal moves pick by preference order (deterministic, natural-looking)
+    for i in _PREF:
+        if b[i] != " ":
+            continue
+        nb = list(b)
+        nb[i] = player
+        w = winner(nb)
+        s = (1 if w == "X" else -1) if w else (0 if is_full(nb) else _minimax("".join(nb), "O" if player == "X" else "X")[0])
+        if s == target:
+            return i
+    raise ValueError("no legal move")

examples/ttt_isaac.py

@@ -0,0 +1,356 @@
+"""Isaac Lab backend for the tic-tac-toe server: Franka + table + 3x3 board + X/O tokens + 2 RTX cameras.
+
+Motor skill (a): scripted top-down pick-and-place with Isaac Lab's DifferentialIKController (DLS, absolute pose).
+Runs inside the Isaac Lab venv; `run()` launches Kit, builds the scene and hands the backend to the server loop.
+"""
+
+from __future__ import annotations
+
+import math
+import os
+import sys
+import time
+
+import numpy as np
+
+HERE = os.path.dirname(os.path.abspath(__file__))
+sys.path.insert(0, HERE)
+import ttt_game as G  # noqa: E402
+
+PHYS_DT = 1.0 / 120.0
+DECIM = 4  # 30 Hz control / recording
+TOK = 0.04  # token size (m)
+FINGER_OFF = 0.1034  # panda_hand -> fingertip centre
+TRAY = {"X": 0.28, "O": -0.28}
+PARK = (0.22, 0.0, 0.62)  # end effector park pose: behind the board, above the robot base
+
+
+def tray_xy(mark: str, k: int):
+    return (0.34 + 0.07 * k, TRAY[mark])
+
+
+def T(x):
+    return x.torch if hasattr(x, "torch") else x
+
+
+def look_quat_world(eye, tgt):
+    dx, dy, dz = (t - e for t, e in zip(tgt, eye))
+    yaw, pitch = math.atan2(dy, dx), math.atan2(-dz, math.hypot(dx, dy))
+    sz, cz, sy, cy = math.sin(yaw / 2), math.cos(yaw / 2), math.sin(pitch / 2), math.cos(pitch / 2)
+    return (-sz * sy, cz * sy, sz * cy, cz * cy)
+
+
+CAMS = {
+    # overhead: straight down, image top = +x (far side), image left = +y
+    "overhead": {"eye": (0.50, 0.0, 1.25), "quat": (0.0, math.sin(math.pi / 4), 0.0, math.cos(math.pi / 4)), "focal": 26.0},
+    "front": {"eye": (1.30, 0.0, 0.70), "tgt": (0.40, 0.0, 0.05), "focal": 16.0},
+}
+
+
+def build_scene_cfg(width: int, height: int):
+    import isaaclab.sim as sim_utils
+    from isaaclab.assets import AssetBaseCfg, RigidObjectCfg
+    from isaaclab.scene import InteractiveSceneCfg
+    from isaaclab.sensors import CameraCfg
+    from isaaclab.sim.schemas import CollisionPropertiesCfg, MassPropertiesCfg, RigidBodyPropertiesCfg
+    from isaaclab.utils import configclass
+    from isaaclab_assets import FRANKA_PANDA_HIGH_PD_CFG
+
+    def vis_box(path, size, pos, color):
+        return AssetBaseCfg(prim_path="{ENV_REGEX_NS}/" + path, init_state=AssetBaseCfg.InitialStateCfg(pos=pos),
+                            spawn=sim_utils.CuboidCfg(size=size, visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=color, roughness=0.8)))
+
+    def token(mark, k):
+        rb = RigidBodyPropertiesCfg(solver_position_iteration_count=16, solver_velocity_iteration_count=1,
+                                    max_depenetration_velocity=1.0, disable_gravity=False)
+        common = dict(rigid_props=rb, mass_props=MassPropertiesCfg(mass=0.05), collision_props=CollisionPropertiesCfg(),
+                      physics_material=sim_utils.RigidBodyMaterialCfg(static_friction=1.2, dynamic_friction=1.0))
+        if mark == "X":
+            spawn = sim_utils.CuboidCfg(size=(TOK, TOK, TOK), visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.85, 0.08, 0.08)), **common)
+        else:
+            spawn = sim_utils.CylinderCfg(radius=TOK / 2, height=TOK, axis="Z", visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.08, 0.22, 0.9)), **common)
+        x, y = tray_xy(mark, k)
+        return RigidObjectCfg(prim_path="{ENV_REGEX_NS}/Tok" + mark + str(k),
+                              init_state=RigidObjectCfg.InitialStateCfg(pos=(x, y, TOK / 2 + 0.001), rot=(0, 0, 0, 1)), spawn=spawn)
+
+    def cam(name, c):
+        rot = c.get("quat") or look_quat_world(c["eye"], c["tgt"])
+        return CameraCfg(prim_path="{ENV_REGEX_NS}/Cam_" + name, update_period=0.0, height=height, width=width,
+                         data_types=["rgb"], spawn=sim_utils.PinholeCameraCfg(focal_length=c["focal"], clipping_range=(0.05, 20.0)),
+                         offset=CameraCfg.OffsetCfg(pos=c["eye"], rot=rot, convention="world"))
+
+    @configclass
+    class TTTSceneCfg(InteractiveSceneCfg):
+        light = AssetBaseCfg(prim_path="/World/Light", spawn=sim_utils.DomeLightCfg(intensity=700.0, color=(0.95, 0.95, 0.95)))
+        sun = AssetBaseCfg(prim_path="/World/Sun", spawn=sim_utils.DistantLightCfg(intensity=600.0, angle=1.0))
+        floor = vis_box("Floor", (6.0, 6.0, 0.02), (0.5, 0.0, -0.80), (0.35, 0.35, 0.38))
+        table = AssetBaseCfg(prim_path="{ENV_REGEX_NS}/Table", init_state=AssetBaseCfg.InitialStateCfg(pos=(0.55, 0.0, -0.025)),
+                             spawn=sim_utils.CuboidCfg(size=(0.9, 1.0, 0.05), collision_props=CollisionPropertiesCfg(),
+                                                       physics_material=sim_utils.RigidBodyMaterialCfg(static_friction=0.9, dynamic_friction=0.8),
+                                                       visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.55, 0.42, 0.28), roughness=0.9)))
+        board = vis_box("Board", (3 * G.PITCH + 0.01, 3 * G.PITCH + 0.01, 0.002), (G.BOARD_CENTER[0], G.BOARD_CENTER[1], 0.0), (0.12, 0.12, 0.12))
+        robot = FRANKA_PANDA_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
+        cam_overhead = cam("overhead", CAMS["overhead"])
+        cam_front = cam("front", CAMS["front"])
+
+    for i in range(9):
+        x, y = G.cell_xy(i)
+        setattr(TTTSceneCfg, f"cell{i}", vis_box(f"Cell{i}", (G.PITCH - 0.012, G.PITCH - 0.012, 0.002), (x, y, 0.0006), (0.92, 0.92, 0.88)))
+    for m in "XO":
+        setattr(TTTSceneCfg, f"tray{m}", vis_box(f"Tray{m}", (0.36, 0.07, 0.002), (0.48, TRAY[m], 0.0), (0.7, 0.7, 0.7)))
+        for k in range(5):
+            setattr(TTTSceneCfg, f"tok{m}{k}", token(m, k))
+    return TTTSceneCfg
+
+
+class IsaacBackend:
+    name = "isaaclab"
+    fps = int(round(1.0 / (PHYS_DT * DECIM)))
+
+    def __init__(self, sim, scene, log):
+        import torch
+        from isaaclab.controllers import DifferentialIKController, DifferentialIKControllerCfg
+        from isaaclab.managers import SceneEntityCfg
+
+        self.torch, self.sim, self.scene, self.log = torch, sim, scene, log
+        self.dev = sim.device
+        self.robot = scene["robot"]
+        self.ent = SceneEntityCfg("robot", joint_names=["panda_joint.*"], body_names=["panda_hand"])
+        self.ent.resolve(scene)
+        self.fing = self.robot.find_joints("panda_finger.*")[0]
+        self.ee_idx = self.ent.body_ids[0]
+        self.jac_idx = self.ee_idx - 1 if self.robot.is_fixed_base else self.ee_idx
+        self.ik = DifferentialIKController(DifferentialIKControllerCfg(command_type="pose", use_relative_mode=False, ik_method="dls"),
+                                           num_envs=1, device=self.dev)
+        self.origin = T(scene.env_origins)[0].clone()
+        self.tokens = [{"mark": m, "k": k, "key": f"tok{m}{k}", "used": False} for m in "XO" for k in range(5)]
+        self.q_down = torch.tensor([[1.0, 0.0, 0.0, 0.0]], device=self.dev)  # xyzw: hand z-axis pointing down
+        self.grip = 0.04
+        self.frame_cb = None
+        self.cell_px_cache = None
+        self.reset()
+
+    # ------------------------------------------------------------------ helpers
+    def tok_pos(self, t):
+        return (T(self.scene[t["key"]].data.root_pos_w)[0] - self.origin).cpu().numpy()
+
+    def tok_up(self, t):
+        q = T(self.scene[t["key"]].data.root_quat_w)[0].cpu().numpy()  # xyzw
+        x, y, z, w = q
+        return 1 - 2 * (x * x + y * y)  # z-component of the body z-axis
+
+    def ee_pos(self):
+        return (T(self.robot.data.body_pose_w)[0, self.ee_idx, :3] - self.origin).cpu().numpy()
+
+    def q(self):
+        return T(self.robot.data.joint_pos)[0].cpu().numpy()
+
+    def _step(self, n=1, record=False, target=None, render=True):
+        for _ in range(n):
+            for _k in range(DECIM):
+                self.scene.write_data_to_sim()
+                self.sim.step(render=render and _k == DECIM - 1)
+                self.scene.update(PHYS_DT)
+            if record and self.frame_cb is not None:
+                self.frame_cb(self.q(), target if target is not None else self.q(), self.ee_pos().tolist(),
+                              float(self.grip < 0.02), self.images())
+
+    def _set_token(self, t, x, y, z=TOK / 2 + 0.001):
+        torch = self.torch
+        pose = torch.tensor([[x, y, z, 0.0, 0.0, 0.0, 1.0]], device=self.dev)
+        pose[:, :3] += self.origin
+        obj = self.scene[t["key"]]
+        obj.write_root_pose_to_sim_index(root_pose=pose)
+        obj.write_root_velocity_to_sim_index(root_velocity=torch.zeros(1, 6, device=self.dev))
+
+    # ------------------------------------------------------------------ API
+    def reset(self):
+        torch = self.torch
+        jp = T(self.robot.data.default_joint_pos).clone()
+        self.robot.write_joint_position_to_sim_index(position=jp)
+        self.robot.write_joint_velocity_to_sim_index(velocity=torch.zeros_like(jp))
+        self.robot.set_joint_position_target_index(target=jp)
+        self.robot.reset()
+        self.ik.reset()
+        for t in self.tokens:
+            t["used"] = False
+            self._set_token(t, *tray_xy(t["mark"], t["k"]))
+        self.grip = 0.04
+        self._step(20, render=False)
+        self.move_to(PARK, dur=1.0, record=False)
+        self._step(10)
+        return {"board": self.board()}
+
+    def board(self):
+        b = [" "] * 9
+        for t in self.tokens:
+            p = self.tok_pos(t)
+            if p[2] > 0.035 or p[2] < 0.0:
+                continue
+            c = G.xy_to_cell(p[0], p[1])
+            if c is not None:
+                b[c] = t["mark"] if b[c] == " " else "?"
+        return b
+
+    def images(self):
+        out = {}
+        for n in ("overhead", "front"):
+            im = T(self.scene[f"cam_{n}"].data.output["rgb"])[0, ..., :3]
+            out[n] = im.to(self.torch.uint8).cpu().numpy()
+        return out
+
+    def cell_px(self):
+        """Project the 9 cell centres into the overhead image with the camera's own intrinsics + pose."""
+        if self.cell_px_cache is None:
+            cd = self.scene["cam_overhead"].data
+            K = T(cd.intrinsic_matrices)[0].cpu().numpy()
+            p = T(cd.pos_w)[0].cpu().numpy() - self.origin.cpu().numpy()
+            qx, qy, qz, qw = T(cd.quat_w_world)[0].cpu().numpy()
+            R = np.array([[1 - 2 * (qy * qy + qz * qz), 2 * (qx * qy - qz * qw), 2 * (qx * qz + qy * qw)],
+                          [2 * (qx * qy + qz * qw), 1 - 2 * (qx * qx + qz * qz), 2 * (qy * qz - qx * qw)],
+                          [2 * (qx * qz - qy * qw), 2 * (qy * qz + qx * qw), 1 - 2 * (qx * qx + qy * qy)]])
+            px = []
+            for i in range(9):
+                x, y = G.cell_xy(i)
+                d = R.T @ (np.array([x, y, TOK]) - p)  # camera frame, world convention: +X fwd, +Y left, +Z up
+                xc, yc, zc = -d[1], -d[2], d[0]  # -> opencv
+                px.append((float(K[0, 0] * xc / zc + K[0, 2]), float(K[1, 1] * yc / zc + K[1, 2])))
+            self.cell_px_cache = px
+            self.log(f"cell_px {px}")
+        return self.cell_px_cache
+
+    def move_to(self, pos, dur=1.0, record=True, grip=None, tol=0.004, tol_s=1.5):
+        """Smooth straight-line EE move (fingertip-centre target, top-down) over dur seconds via DiffIK."""
+        torch = self.torch
+        if grip is not None:
+            self.grip = grip
+        start = self.ee_pos()  # hand frame position
+        goal = np.array(pos, dtype=np.float64) + np.array([0, 0, FINGER_OFF])
+        n = max(1, int(round(dur * self.fps)))
+        for s in range(n):
+            a = (s + 1) / n
+            a = a * a * (3 - 2 * a)
+            tgt = start + (goal - start) * a
+            self._ik_track(tgt, record=record)
+        for _ in range(int(tol_s * self.fps)):  # settle: keep tracking the goal until within tol
+            if np.linalg.norm(self.ee_pos() - goal) < tol:
+                break
+            self._ik_track(goal, record=record)
+        return float(np.linalg.norm(self.ee_pos() - goal))
+
+    def _ik_track(self, hand_pos, record=True):
+        torch = self.torch
+        from isaaclab.utils.math import subtract_frame_transforms
+
+        cmd = torch.cat([torch.tensor(np.asarray(hand_pos, np.float32)[None], dtype=torch.float32, device=self.dev) + self.origin, self.q_down], -1)
+        root = T(self.robot.data.root_pose_w)
+        cmd_b_pos, cmd_b_quat = subtract_frame_transforms(root[:, :3], root[:, 3:7], cmd[:, :3], cmd[:, 3:7])
+        self.ik.set_command(torch.cat([cmd_b_pos, cmd_b_quat], -1))
+        jids = [j + getattr(self.robot, "num_base_dofs", 0) for j in self.ent.joint_ids]
+        jac = T(self.robot.data.body_link_jacobian_w)[:, self.jac_idx, :, jids]
+        ee = T(self.robot.data.body_pose_w)[:, self.ee_idx]
+        ee_b_pos, ee_b_quat = subtract_frame_transforms(root[:, :3], root[:, 3:7], ee[:, :3], ee[:, 3:7])
+        jp = T(self.robot.data.joint_pos)[:, self.ent.joint_ids]
+        des = self.ik.compute(ee_b_pos, ee_b_quat, jac, jp)
+        self.robot.set_joint_position_target_index(target=des, joint_ids=self.ent.joint_ids)
+        g = torch.full((1, len(self.fing)), self.grip, device=self.dev)
+        self.robot.set_joint_position_target_index(target=g, joint_ids=self.fing)
+        target = np.concatenate([des[0].cpu().numpy(), g[0].cpu().numpy()])
+        self._step(1, record=record, target=target)
+
+    def hold(self, dur, record=True, grip=None):
+        if grip is not None:
+            self.grip = grip
+        hp = self.ee_pos()
+        for _ in range(max(1, int(round(dur * self.fps)))):
+            self._ik_track(hp, record=record)
+
+    def place(self, mark, cell, task, frame_cb):
+        self.frame_cb = frame_cb
+        t0 = time.time()
+        f0 = self._frames = 0
+        try:
+            return self._place(mark, cell, t0)
+        finally:
+            self.frame_cb = None
+
+    def _place(self, mark, cell, t0):
+        cx, cy = G.cell_xy(cell)
+        cands = [t for t in self.tokens if t["mark"] == mark and not t["used"]]
+        attempts, grasp_ok, tok = 0, False, None
+        for t in cands:
+            p = self.tok_pos(t)
+            if p[2] < -0.05:  # fell off the table
+                t["used"] = True
+                continue
+            for _try in range(2):
+                attempts += 1
+                p = self.tok_pos(t)
+                self.move_to((p[0], p[1], 0.14), dur=1.2, grip=0.04, tol=0.003)
+                self.move_to((p[0], p[1], TOK / 2 + 0.002), dur=0.8, tol=0.003)
+                self.hold(0.5, grip=0.0)
+                self.move_to((p[0], p[1], 0.16), dur=0.8, tol=0.01)
+                if self.tok_pos(t)[2] > 0.08:
+                    grasp_ok, tok = True, t
+                    break
+                self.hold(0.3, grip=0.04)
+            if grasp_ok:
+                break
+            t["used"] = True  # give up on this token
+            if attempts >= 4:
+                break
+        if not grasp_ok:
+            self.move_to(PARK, dur=1.0, grip=0.04)
+            return {"ok": False, "grasp_ok": False, "attempts": attempts, "error": "grasp failed",
+                    "sim_s": round(self._sim_s(), 2)}
+        self.move_to((cx, cy, 0.16), dur=1.4, tol=0.003)
+        self.move_to((cx, cy, TOK / 2 + 0.006), dur=0.9, tol=0.003)
+        self.hold(0.3, grip=0.03)
+        self.move_to((cx, cy, 0.14), dur=0.6)
+        tok["used"] = True
+        self.move_to(PARK, dur=1.2)
+        self.hold(0.4)
+        p = self.tok_pos(tok)
+        err = float(math.hypot(p[0] - cx, p[1] - cy))
+        return {"ok": True, "grasp_ok": True, "attempts": attempts, "place_err_m": round(err, 4),
+                "token_xy": [round(float(p[0]), 4), round(float(p[1]), 4)], "token_z": round(float(p[2]), 4),
+                "upright": round(float(self.tok_up(tok)), 3), "sim_s": round(self._sim_s(), 2)}
+
+    def debug(self, req):
+        out = {}
+        if "pos" in req:
+            self.move_to(tuple(req["pos"]), dur=float(req.get("dur", 1.5)), record=False, grip=req.get("grip"))
+            self.hold(float(req.get("hold", 0.5)), record=False)
+        out["ee_tip"] = (self.ee_pos() - np.array([0, 0, FINGER_OFF])).round(4).tolist()
+        out["hand_quat"] = T(self.robot.data.body_pose_w)[0, self.ee_idx, 3:7].cpu().numpy().round(3).tolist()
+        out["q"] = self.q().round(3).tolist()
+        out["origin"] = self.origin.cpu().numpy().tolist()
+        out["root"] = T(self.robot.data.root_pose_w)[0].cpu().numpy().round(3).tolist()
+        out["tokens"] = {t["key"]: self.tok_pos(t).round(4).tolist() for t in self.tokens[:2] + self.tokens[5:6]}
+        return out
+
+    def _sim_s(self):
+        return 0.0
+
+
+def run(a, rest, serve, log):
+    import argparse
+
+    from isaaclab.app import launch_simulation
+
+    largs = {"device": "cuda:0", "headless": True, "enable_cameras": True}
+    import isaaclab.sim as sim_utils
+
+    sim_cfg = sim_utils.SimulationCfg(dt=PHYS_DT, device="cuda:0")
+    with launch_simulation(sim_cfg, largs):
+        from isaaclab.scene import InteractiveScene
+
+        t0 = time.time()
+        sim = sim_utils.SimulationContext(sim_cfg)
+        scene = InteractiveScene(build_scene_cfg(a.width, a.height)(num_envs=1, env_spacing=3.0))
+        sim.reset()
+        log(f"scene built {time.time() - t0:.1f}s")
+        be = IsaacBackend(sim, scene, log)
+        log(f"backend ready {time.time() - t0:.1f}s")
+        serve(be)
+    os._exit(0)

examples/ttt_server.py

@@ -0,0 +1,310 @@
+"""Tic-tac-toe robot server: JSON lines over TCP. Runs in the Isaac Lab venv (strands_robots on PYTHONPATH).
+
+  --mock : pure numpy backend (teleports tokens, synthetic top-down renders) — CPU only, no Kit.
+  default: Isaac Lab backend (ttt_isaac.IsaacBackend) — Franka + DiffIK pick/place, RTX cameras.
+
+Requests (one JSON object per line) -> one JSON reply per line:
+  {"cmd":"ping"}                                   -> {"ok":true,"backend":...}
+  {"cmd":"reset"}                                  -> tokens back to trays, robot home, board
+  {"cmd":"state"}                                  -> {"board":[9], "vision":{...}, "tokens":[...]}
+  {"cmd":"place","mark":"X","cell":0,"task":"..."} -> {"ok","grasp_ok","place_err_m","cell_detected",...}
+  {"cmd":"render","path":"/x/y"}                   -> writes <path>_overhead.png, <path>_front.png
+  {"cmd":"record_open","root":..,"repo_id":..}     -> strands DatasetRecorder (1 place = 1 episode)
+  {"cmd":"record_close"}                           -> finalize
+  {"cmd":"video_open","path":"x.mp4","every":2} / {"cmd":"video_close"}  -> overhead|front side-by-side
+  {"cmd":"shutdown"}
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import socket
+import sys
+import time
+import traceback
+
+HERE = os.path.dirname(os.path.abspath(__file__))
+sys.path.insert(0, HERE)
+
+import numpy as np  # noqa: E402
+
+import ttt_game as G  # noqa: E402
+import ttt_vision as V  # noqa: E402
+
+JOINTS = [f"panda_joint{i}" for i in range(1, 8)] + ["panda_finger_joint1", "panda_finger_joint2"]
+ACTIONS = [f"target.{j}" for j in JOINTS]
+
+
+class Recorder:
+    """strands DatasetRecorder wrapper: one pick-place move = one episode."""
+
+    def __init__(self, root: str, repo_id: str, fps: int, cams: dict[str, tuple[int, int]]):
+        import shutil
+
+        from strands_robots.dataset_recorder import DatasetRecorder
+
+        shutil.rmtree(root, ignore_errors=True)
+        os.makedirs(os.path.dirname(os.path.abspath(root)), exist_ok=True)
+        self.cams = list(cams)
+        self.rec = DatasetRecorder.create(
+            repo_id=repo_id, fps=fps, robot_type="franka_panda", joint_names=JOINTS, action_names=ACTIONS,
+            camera_keys=self.cams, camera_dims=cams,
+            extra_state_specs=[("ee_pos", ["x", "y", "z"]), ("gripper_cmd", ["close"]),
+                               ("board", [f"{c}.{m}" for c in G.CELL_NAMES for m in ("X", "O")])],
+            task="play tic-tac-toe", root=root, use_videos=True, overwrite=True,
+        )
+        self.root, self.repo_id, self.episodes, self.frames = root, repo_id, 0, 0
+        self.buf: list = []
+
+    def frame(self, q, target, ee, grip, board, imgs, task):
+        ob = {n: float(q[k]) for k, n in enumerate(JOINTS)}
+        oh = np.zeros(18, np.float32)
+        for i, v in enumerate(board):
+            if v == "X":
+                oh[2 * i] = 1
+            elif v == "O":
+                oh[2 * i + 1] = 1
+        ob.update(ee_pos=np.asarray(ee, np.float32), gripper_cmd=np.asarray([grip], np.float32), board=oh)
+        ob.update({k: imgs[k] for k in self.cams})
+        self.buf.append((ob, {n: float(target[k]) for k, n in enumerate(ACTIONS)}, task))
+
+    def end_episode(self, keep: bool = True):
+        if keep and self.buf:
+            for ob, ac, task in self.buf:
+                self.rec.add_frame(ob, ac, task=task, camera_keys=self.cams)
+            self.rec.save_episode()
+            self.episodes += 1
+            self.frames += len(self.buf)
+        self.buf = []
+
+    def close(self):
+        self.rec.finalize()
+        return {"root": self.root, "episodes": self.episodes, "frames": self.frames}
+
+
+class Video:
+    def __init__(self, path: str, fps: int, every: int = 2):
+        import imageio.v2 as iio
+
+        os.makedirs(os.path.dirname(os.path.abspath(path)), exist_ok=True)
+        self.w = iio.get_writer(path, fps=max(1, fps // every), codec="libx264", quality=7, macro_block_size=8)
+        self.every, self.n, self.path = every, 0, path
+
+    def frame(self, imgs):
+        if self.n % self.every == 0:
+            self.w.append_data(np.concatenate([imgs["overhead"], imgs["front"]], 1))
+        self.n += 1
+
+    def close(self):
+        self.w.close()
+        return {"path": self.path, "frames": self.n // self.every}
+
+
+# ----------------------------------------------------------------------------- mock backend (CPU)
+class MockBackend:
+    """No physics: tokens teleport with a small random placement error; images are synthetic top-down."""
+
+    name = "mock"
+    fps = 30
+
+    def __init__(self, width=320, height=240, seed=0):
+        self.W, self.H = width, height
+        self.rng = np.random.default_rng(seed)
+        self.hooks: list = []
+        self.reset()
+
+    def tray_xy(self, mark, k):
+        return (0.35 + 0.07 * k, 0.28 if mark == "X" else -0.28)
+
+    def reset(self):
+        self.tokens = [{"mark": m, "k": k, "xy": list(self.tray_xy(m, k)), "z": 0.02, "used": False}
+                       for m in ("X", "O") for k in range(5)]
+        self.q = np.array([0, -0.569, 0, -2.81, 0, 3.037, 0.741, 0.04, 0.04])
+        return {"board": self.board()}
+
+    def board(self):
+        b = [" "] * 9
+        for t in self.tokens:
+            c = G.xy_to_cell(*t["xy"]) if t["z"] < 0.05 else None
+            if c is not None:
+                b[c] = t["mark"] if b[c] == " " else "?"
+        return b
+
+    # world(x,y) -> overhead pixel (image top = +x, image left = +y), 1.0 m wide view centred at (0.5, 0)
+    def px(self, x, y):
+        s = self.W / 0.9
+        return (self.W / 2 - (y - 0.0) * s, self.H / 2 - (x - 0.5) * s)
+
+    def cell_px(self):
+        return [self.px(*G.cell_xy(i)) for i in range(9)]
+
+    def images(self):
+        im = np.full((self.H, self.W, 3), 170, np.uint8)
+        s = self.W / 0.9
+        for i in range(9):
+            u, v = self.px(*G.cell_xy(i))
+            h = 0.085 * s / 2
+            im[int(v - h):int(v + h), int(u - h):int(u + h)] = 225
+        for t in self.tokens:
+            u, v = self.px(*t["xy"])
+            h = 0.02 * s
+            col = (200, 30, 30) if t["mark"] == "X" else (30, 60, 210)
+            im[max(0, int(v - h)):int(v + h), max(0, int(u - h)):int(u + h)] = col
+        return {"overhead": im, "front": im[::-1, ::-1].copy()}
+
+    def place(self, mark, cell, task, frame_cb):
+        tok = next((t for t in self.tokens if t["mark"] == mark and not t["used"]), None)
+        if tok is None:
+            return {"ok": False, "error": f"no {mark} tokens left"}
+        cx, cy = G.cell_xy(cell)
+        start = np.array(tok["xy"])
+        err = self.rng.normal(0, 0.004, 2)
+        goal = np.array([cx, cy]) + err
+        for f in range(30):
+            a = (f + 1) / 30
+            tok["xy"] = list(start + (goal - start) * a)
+            tok["z"] = 0.02 + 0.1 * np.sin(np.pi * a)
+            self.q = self.q + 0.01 * np.sin(f / 5)
+            frame_cb(self.q, self.q, [tok["xy"][0], tok["xy"][1], tok["z"] + 0.1], float(0 < f < 29), self.images())
+        tok["z"], tok["used"] = 0.02, True
+        e = float(np.hypot(*(np.array(tok["xy"]) - [cx, cy])))
+        return {"ok": True, "grasp_ok": True, "place_err_m": round(e, 4), "token_xy": tok["xy"],
+                "sim_s": 1.0, "frames": 30, "attempts": 1}
+
+
+# ----------------------------------------------------------------------------- server loop
+def serve(backend, port: int, log):
+    rec: Recorder | None = None
+    vid: Video | None = None
+    srv = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    srv.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+    srv.bind(("127.0.0.1", port))
+    srv.listen(4)
+    log(f"READY port={port} backend={backend.name}")
+    print(f"[ttt] READY port={port}", flush=True)
+
+    def observe():
+        imgs = backend.images()
+        vis = V.classify(imgs["overhead"], backend.cell_px())
+        return imgs, vis
+
+    def handle(req):
+        nonlocal rec, vid
+        cmd = req.get("cmd")
+        if cmd == "ping":
+            return {"ok": True, "backend": backend.name, "fps": backend.fps}
+        if cmd == "reset":
+            r = backend.reset()
+            return {"ok": True, **r}
+        if cmd == "state":
+            imgs, vis = observe()
+            b = backend.board()
+            return {"ok": True, "board": b, "vision": vis, "agree": vis["board"] == b, "status": G.status(b)}
+        if cmd == "place":
+            mark, cell = req["mark"], int(req["cell"])
+            b0 = backend.board()
+            if b0[cell] != " ":
+                return {"ok": False, "error": f"cell {G.CELL_NAMES[cell]} is occupied by {b0[cell]}"}
+            task = req.get("task") or f"place {mark} in the {G.CELL_NAMES[cell]} cell"
+            t0 = time.time()
+
+            def frame_cb(q, target, ee, grip, imgs):
+                if rec is not None:
+                    rec.frame(q, target, ee, grip, b0, imgs, task)
+                if vid is not None:
+                    vid.frame(imgs)
+
+            r = backend.place(mark, cell, task, frame_cb)
+            b1 = backend.board()
+            imgs, vis = observe()
+            det = b1[cell]
+            r.update(cell=cell, cell_name=G.CELL_NAMES[cell], cell_detected=det, board=b1,
+                     vision=vis, agree=vis["board"] == b1, wall_s=round(time.time() - t0, 2), task=task)
+            r["success"] = bool(r.get("ok") and det == mark and sum(x != y for x, y in zip(b0, b1)) == 1)
+            if rec is not None:
+                rec.end_episode(keep=bool(r.get("ok")))
+            return r
+        if cmd == "render":
+            import imageio.v2 as iio
+
+            imgs, vis = observe()
+            p = req["path"]
+            os.makedirs(os.path.dirname(os.path.abspath(p)), exist_ok=True)
+            for k, im in imgs.items():
+                iio.imwrite(f"{p}_{k}.png", im)
+            return {"ok": True, "files": [f"{p}_{k}.png" for k in imgs], "vision": vis, "board": backend.board()}
+        if cmd == "record_open":
+            rec = Recorder(req["root"], req.get("repo_id", "local/ttt"), backend.fps,
+                           {k: v.shape[:2] for k, v in backend.images().items()})
+            return {"ok": True}
+        if cmd == "record_close":
+            out = rec.close() if rec else None
+            rec = None
+            return {"ok": True, "recorder": out}
+        if cmd == "video_open":
+            vid = Video(req["path"], backend.fps, int(req.get("every", 2)))
+            return {"ok": True}
+        if cmd == "video_close":
+            out = vid.close() if vid else None
+            vid = None
+            return {"ok": True, "video": out}
+        if cmd == "debug" and hasattr(backend, "debug"):
+            return {"ok": True, **backend.debug(req)}
+        if cmd == "shutdown":
+            return {"ok": True, "bye": True}
+        return {"ok": False, "error": f"unknown cmd {cmd!r}"}
+
+    while True:
+        conn, _ = srv.accept()
+        f = conn.makefile("rwb")
+        try:
+            for line in f:
+                req = json.loads(line)
+                try:
+                    rep = handle(req)
+                except Exception as e:  # noqa: BLE001
+                    rep = {"ok": False, "error": f"{type(e).__name__}: {e}", "tb": traceback.format_exc()[-2000:]}
+                log(json.dumps({"req": req, "rep": {k: v for k, v in rep.items() if k != "vision"}}, default=str)[:3000])
+                f.write((json.dumps(rep, default=lambda o: o.tolist() if hasattr(o, "tolist") else str(o)) + "\n").encode())
+                f.flush()
+                if rep.get("bye"):
+                    if rec:
+                        rec.close()
+                    if vid:
+                        vid.close()
+                    conn.close()
+                    return
+        except (ConnectionResetError, BrokenPipeError):
+            pass
+        finally:
+            try:
+                conn.close()
+            except Exception:  # noqa: BLE001
+                pass
+
+
+def main():
+    ap = argparse.ArgumentParser()
+    ap.add_argument("--port", type=int, default=8765)
+    ap.add_argument("--mock", action="store_true")
+    ap.add_argument("--log", default=os.path.join(HERE, "..", "runs", "server.log"))
+    ap.add_argument("--width", type=int, default=320)
+    ap.add_argument("--height", type=int, default=240)
+    a, rest = ap.parse_known_args()
+    lf = open(a.log, "a", buffering=1)
+
+    def log(s):
+        lf.write(f"{time.strftime('%H:%M:%S')} {s}\n")
+
+    if a.mock:
+        serve(MockBackend(a.width, a.height), a.port, log)
+    else:
+        import ttt_isaac
+
+        ttt_isaac.run(a, rest, lambda backend: serve(backend, a.port, log), log)
+
+
+if __name__ == "__main__":
+    main()

examples/ttt_tools.py

@@ -0,0 +1,139 @@
+"""Strands side: TCP client for ttt_server + Strands @tools (get_board, place_mark, reset_game, render_board).
+
+Runs in the strands venv. The robot/sim lives in another process (Isaac Lab venv).
+"""
+
+from __future__ import annotations
+
+import json
+import os
+import socket
+import sys
+
+sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
+
+import ttt_game as G  # noqa: E402
+
+
+class Client:
+    def __init__(self, port: int = 8765, host: str = "127.0.0.1", timeout: float = 600):
+        self.s = socket.create_connection((host, port), timeout=timeout)
+        self.f = self.s.makefile("rwb")
+
+    def call(self, cmd: str, **kw) -> dict:
+        self.f.write((json.dumps({"cmd": cmd, **kw}) + "\n").encode())
+        self.f.flush()
+        line = self.f.readline()
+        if not line:
+            raise ConnectionError("ttt server closed the connection")
+        return json.loads(line)
+
+    def close(self):
+        try:
+            self.s.close()
+        except Exception:  # noqa: BLE001
+            pass
+
+
+class Game:
+    """Shared game state/log across players; enforces turn order; talks to the robot server."""
+
+    def __init__(self, client: Client, log_cb=None):
+        self.c = client
+        self.moves: list[dict] = []
+        self.disagreements = 0
+        self.log_cb = log_cb or (lambda m: None)
+        self.board = [" "] * 9
+
+    def reset(self):
+        r = self.c.call("reset")
+        self.board = r["board"]
+        self.moves = []
+        return r
+
+    def state(self):
+        r = self.c.call("state")
+        self.board = r["board"]
+        if not r.get("agree", True):
+            self.disagreements += 1
+        return r
+
+    def place(self, mark: str, cell: int, by: str) -> dict:
+        if G.status(self.board) != "in progress":
+            return {"ok": False, "error": f"game over: {G.status(self.board)}"}
+        if G.to_move(self.board) != mark:
+            return {"ok": False, "error": f"it is {G.to_move(self.board)}'s turn, not {mark}'s"}
+        if self.board[cell] != " ":
+            return {"ok": False, "error": f"{G.CELL_NAMES[cell]} is already taken by {self.board[cell]}"}
+        r = self.c.call("place", mark=mark, cell=cell, task=f"place {mark} in the {G.CELL_NAMES[cell]} cell")
+        if r.get("board"):
+            self.board = r["board"]
+        if not r.get("agree", True):
+            self.disagreements += 1
+        mv = {"n": len(self.moves) + 1, "by": by, "mark": mark, "cell": cell, "cell_name": G.CELL_NAMES[cell],
+              **{k: r.get(k) for k in ("ok", "success", "grasp_ok", "attempts", "place_err_m", "cell_detected",
+                                       "agree", "wall_s", "sim_s", "frames", "error")},
+              "vision_board": (r.get("vision") or {}).get("board"), "board_after": self.board}
+        self.moves.append(mv)
+        self.log_cb(mv)
+        return r
+
+
+def make_tools(game: Game, mark: str, name: str):
+    """Strands tools bound to one player's mark."""
+    from strands import tool
+
+    turn = {"placed": False}
+
+    @tool
+    def get_board() -> dict:
+        """Look at the tic-tac-toe board on the table (simulator ground truth and the overhead camera's view).
+
+        Returns the 3x3 board as text (cells numbered 1-9, top-left=1 ... bottom-right=9, as seen from above),
+        whose turn it is, the game status and whether the camera agrees with the simulator.
+        """
+        r = game.state()
+        b = r["board"]
+        return {"status": "success", "content": [{"text": (
+            f"Board (you are {mark}):\n{G.ascii_board(b)}\n"
+            f"cells: {', '.join(f'{i + 1}={n}' for i, n in enumerate(G.CELL_NAMES))}\n"
+            f"to move: {G.to_move(b)} | status: {G.status(b)} | camera agrees with sim: {r.get('agree')}"
+            f"{'' if r.get('agree') else ' (camera sees ' + ''.join(r['vision']['board']).replace(' ', '.') + ')'}")}]}
+
+    @tool
+    def place_mark(cell: str) -> dict:
+        """Have the robot arm pick one of your tokens from the tray and place it on a board cell.
+
+        Args:
+            cell: the target cell, e.g. "top-left", "center", "bottom-right", or a number 1-9
+                  (1=top-left, 3=top-right, 5=center, 7=bottom-left, 9=bottom-right).
+        """
+        try:
+            i = G.parse_cell(cell)
+        except ValueError as e:
+            return {"status": "error", "content": [{"text": str(e)}]}
+        if turn["placed"]:
+            return {"status": "error", "content": [{"text": "You already placed a mark this turn; wait for the opponent."}]}
+        r = game.place(mark, i, by=name)
+        if not r.get("ok") or not r.get("success"):
+            return {"status": "error", "content": [{"text": f"placement failed: {r.get('error') or r}"[:800]}]}
+        turn["placed"] = True
+        b = game.board
+        return {"status": "success", "content": [{"text": (
+            f"The robot placed {mark} in {G.CELL_NAMES[i]} (placement error {1000 * r['place_err_m']:.1f} mm).\n"
+            f"{G.ascii_board(b)}\nstatus: {G.status(b)}")}]}
+
+    @tool
+    def reset_game() -> dict:
+        """Clear the board: the robot's tokens go back to their trays. Only use when asked to start a new game."""
+        game.reset()
+        return {"status": "success", "content": [{"text": "Board cleared.\n" + G.ascii_board(game.board)}]}
+
+    @tool
+    def render_board(path: str = "") -> dict:
+        """Save overhead and front camera images of the table; returns the file paths."""
+        p = path or os.path.join(os.environ.get("TTT_RUN_DIR", "/tmp"), f"render_{len(game.moves)}")
+        r = game.c.call("render", path=p)
+        return {"status": "success", "content": [{"text": json.dumps({"files": r.get("files"), "board": r.get("board")})}]}
+
+    return [get_board, place_mark, reset_game, render_board], turn

examples/ttt_vision.py

@@ -0,0 +1,37 @@
+"""Vision check: overhead RGB image -> 3x3 board by colour segmentation (numpy only).
+
+X tokens are red cubes, O tokens are blue cylinders. For each cell we look at a square ROI around the
+cell centre's pixel (projected by the server from the camera intrinsics/extrinsics) and count
+red-ish / blue-ish pixels.
+"""
+
+from __future__ import annotations
+
+import numpy as np
+
+
+def masks(img: np.ndarray) -> tuple[np.ndarray, np.ndarray]:
+    im = img[..., :3].astype(np.int16)
+    r, g, b = im[..., 0], im[..., 1], im[..., 2]
+    red = (r > 110) & (r > g + 50) & (r > b + 50)
+    blue = (b > 90) & (b > r + 40) & (b > g + 20)
+    return red, blue
+
+
+def classify(img: np.ndarray, cell_px: list[tuple[float, float]], half: int | None = None, thresh: float = 0.12) -> dict:
+    """cell_px: 9 (u, v) pixel centres (u = column, v = row). Returns {board, red_frac, blue_frac}."""
+    red, blue = masks(img)
+    if half is None:  # ROI = 60% of the cell pitch in pixels
+        half = max(2, int(0.3 * float(np.hypot(cell_px[1][0] - cell_px[0][0], cell_px[1][1] - cell_px[0][1]))))
+    H, W = red.shape
+    board, rf, bf = [], [], []
+    for u, v in cell_px:
+        u0, u1 = max(0, int(round(u)) - half), min(W, int(round(u)) + half + 1)
+        v0, v1 = max(0, int(round(v)) - half), min(H, int(round(v)) + half + 1)
+        n = max(1, (u1 - u0) * (v1 - v0))
+        fr = float(red[v0:v1, u0:u1].sum()) / n
+        fb = float(blue[v0:v1, u0:u1].sum()) / n
+        rf.append(round(fr, 3))
+        bf.append(round(fb, 3))
+        board.append("X" if fr >= thresh and fr >= fb else ("O" if fb >= thresh else " "))
+    return {"board": board, "red_frac": rf, "blue_frac": bf}

games/g00_agent_vs_minimax/game.json

@@ -0,0 +1,93 @@
+{
+ "result": {
+  "game": "g00_agent_vs_minimax",
+  "mode": "agent_vs_minimax",
+  "agent_mark": "X",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "O",
+   "X",
+   "X",
+   "O",
+   "X",
+   "O",
+   "X"
+  ],
+  "n_moves": 9,
+  "placements_ok": 9,
+  "grasp_ok": 9,
+  "mean_err_mm": 1.78,
+  "max_err_mm": 4.2,
+  "vision_disagreements": 1,
+  "wall_s": 162.9,
+  "robot_s": 104.8,
+  "llm_s": 108.6,
+  "agent_turns_without_move": 0,
+  "complete": true
+ },
+ "llm_turns": [
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Let's play tic-tac-toe. You are X. Place your marks with the robot. You go first.",
+     "reply": "I placed my X in the center because it's part of the most winning lines. One thing to flag: before my move, the overhead camera showed an O on the bottom-center square, but the simulator showed an empty board. I went with the simulator's view, so you might want to check the table before the opponent moves.",
+     "llm_s": 21.4
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the top-left cell. Your turn.",
+     "reply": "I took the bottom-right corner to hold the diagonal and set up chances to force a win later; the camera and simulator now agree on the board.",
+     "llm_s": 22.4
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the top-right cell. Your turn.",
+     "reply": "I blocked O's top row at top-center, which also sets up a win for me at bottom-center next turn.",
+     "llm_s": 21.4
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the bottom-center cell. Your turn.",
+     "reply": "I played middle-left, which threatens to win at middle-right and stops O from using the left column, though O can still block so it will probably end in a draw.",
+     "llm_s": 23.3
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the middle-right cell. Your turn.",
+     "reply": "The game is a draw: I filled the last open square, bottom-left, and neither side has three in a row.",
+     "llm_s": 20.1
+    }
+   ]
+  }
+ ]
+}

games/g00_agent_vs_minimax/moves.jsonl

@@ -0,0 +1,9 @@
+{"n": 1, "by": "agent-X", "mark": "X", "cell": 4, "cell_name": "center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 11.95, "sim_s": 0.0, "frames": null, "error": null, "vision_board": [" ", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": [" ", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 2, "by": "minimax", "mark": "O", "cell": 0, "cell_name": "top-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0013, "cell_detected": "O", "agree": true, "wall_s": 11.93, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 3, "by": "agent-X", "mark": "X", "cell": 8, "cell_name": "bottom-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0007, "cell_detected": "X", "agree": true, "wall_s": 11.53, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", "X"], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", "X"]}
+{"n": 4, "by": "minimax", "mark": "O", "cell": 2, "cell_name": "top-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0018, "cell_detected": "O", "agree": true, "wall_s": 11.73, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "O", " ", "X", " ", " ", " ", "X"], "board_after": ["O", " ", "O", " ", "X", " ", " ", " ", "X"]}
+{"n": 5, "by": "agent-X", "mark": "X", "cell": 1, "cell_name": "top-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0042, "cell_detected": "X", "agree": true, "wall_s": 11.42, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", " ", "X", " ", " ", " ", "X"], "board_after": ["O", "X", "O", " ", "X", " ", " ", " ", "X"]}
+{"n": 6, "by": "minimax", "mark": "O", "cell": 7, "cell_name": "bottom-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0011, "cell_detected": "O", "agree": true, "wall_s": 11.68, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", " ", "X", " ", " ", "O", "X"], "board_after": ["O", "X", "O", " ", "X", " ", " ", "O", "X"]}
+{"n": 7, "by": "agent-X", "mark": "X", "cell": 3, "cell_name": "middle-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 11.3, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", " ", " ", "O", "X"], "board_after": ["O", "X", "O", "X", "X", " ", " ", "O", "X"]}
+{"n": 8, "by": "minimax", "mark": "O", "cell": 5, "cell_name": "middle-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0015, "cell_detected": "O", "agree": true, "wall_s": 11.28, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", "O", " ", "O", "X"], "board_after": ["O", "X", "O", "X", "X", "O", " ", "O", "X"]}
+{"n": 9, "by": "agent-X", "mark": "X", "cell": 6, "cell_name": "bottom-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0006, "cell_detected": "X", "agree": true, "wall_s": 12.0, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", "O", "X", "O", "X"], "board_after": ["O", "X", "O", "X", "X", "O", "X", "O", "X"]}

games/g00_agent_vs_minimax/transcript.md

@@ -0,0 +1,167 @@
+# g00_agent_vs_minimax — agent playing X
+
+**user:** Let's play tic-tac-toe. You are X. Place your marks with the robot. You go first.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ 1 | 2 | 3
+---------
+ 4 | 5 | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: False (camera sees .......O.)
+```
+
+**assistant → tool `place_mark`** `{"cell": "center"}`
+
+**tool result (success):**
+```
+The robot placed X in center (placement error 2.4 mm).
+ 1 | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+status: in progress
+```
+
+**assistant:** I placed my X in the center because it's part of the most winning lines. One thing to flag: before my move, the overhead camera showed an O on the bottom-center square, but the simulator showed an empty board. I went with the simulator's view, so you might want to check the table before the opponent moves.
+
+**user:** Your opponent (O) moved: the robot placed O in the top-left cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "9"}`
+
+**tool result (success):**
+```
+The robot placed X in bottom-right (placement error 0.7 mm).
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I took the bottom-right corner to hold the diagonal and set up chances to force a win later; the camera and simulator now agree on the board.
+
+**user:** Your opponent (O) moved: the robot placed O in the top-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | 2 | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "2"}`
+
+**tool result (success):**
+```
+The robot placed X in top-center (placement error 4.2 mm).
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I blocked O's top row at top-center, which also sets up a win for me at bottom-center next turn.
+
+**user:** Your opponent (O) moved: the robot placed O in the bottom-center cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "4"}`
+
+**tool result (success):**
+```
+The robot placed X in middle-left (placement error 2.4 mm).
+ O | X | O
+---------
+ X | X | 6
+---------
+ 7 | O | X
+status: in progress
+```
+
+**assistant:** I played middle-left, which threatens to win at middle-right and stops O from using the left column, though O can still block so it will probably end in a draw.
+
+**user:** Your opponent (O) moved: the robot placed O in the middle-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | X | O
+---------
+ X | X | O
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "7"}`
+
+**tool result (success):**
+```
+The robot placed X in bottom-left (placement error 0.6 mm).
+ O | X | O
+---------
+ X | X | O
+---------
+ X | O | X
+status: draw
+```
+
+**assistant:** The game is a draw: I filled the last open square, bottom-left, and neither side has three in a row.
+
+
+## Result: draw
+
+```
+ O | X | O
+---------
+ X | X | O
+---------
+ X | O | X
+```

games/g01_agent_vs_minimax/game.json

@@ -0,0 +1,81 @@
+{
+ "result": {
+  "game": "g01_agent_vs_minimax",
+  "mode": "agent_vs_minimax",
+  "agent_mark": "O",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "X",
+   "X",
+   "X",
+   "O",
+   "O",
+   "O",
+   "X"
+  ],
+  "n_moves": 9,
+  "placements_ok": 9,
+  "grasp_ok": 9,
+  "mean_err_mm": 1.76,
+  "max_err_mm": 3.5,
+  "vision_disagreements": 0,
+  "wall_s": 151.7,
+  "robot_s": 104.9,
+  "llm_s": 83.6,
+  "agent_turns_without_move": 0,
+  "complete": true
+ },
+ "llm_turns": [
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Let's play tic-tac-toe. You are O. Place your marks with the robot. Your opponent (X) went first: the robot placed X in the center cell.",
+     "reply": "I put O in the top-left corner, since a corner is the best reply when X opens in the centre.",
+     "llm_s": 20.4
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the top-right cell. Your turn.",
+     "reply": "I put O in the bottom-left to block X's diagonal, and that also sets up my own win at middle-left.",
+     "llm_s": 19.9
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the middle-left cell. Your turn.",
+     "reply": "X blocked my win at middle-left, so I put O in the middle-right to stop X's line across the middle row.",
+     "llm_s": 19.4
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the bottom-right cell. Your turn.",
+     "reply": "I put O in the bottom-centre, which blocks X's middle column; only the top-centre is left, so this game will be a draw.",
+     "llm_s": 23.9
+    }
+   ]
+  }
+ ]
+}

games/g01_agent_vs_minimax/moves.jsonl

@@ -0,0 +1,9 @@
+{"n": 1, "by": "minimax", "mark": "X", "cell": 4, "cell_name": "center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 11.78, "sim_s": 0.0, "frames": null, "error": null, "vision_board": [" ", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": [" ", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 2, "by": "agent-O", "mark": "O", "cell": 0, "cell_name": "top-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0013, "cell_detected": "O", "agree": true, "wall_s": 11.4, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 3, "by": "minimax", "mark": "X", "cell": 2, "cell_name": "top-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0013, "cell_detected": "X", "agree": true, "wall_s": 11.63, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", " ", "X", " ", " ", " ", " "], "board_after": ["O", " ", "X", " ", "X", " ", " ", " ", " "]}
+{"n": 4, "by": "agent-O", "mark": "O", "cell": 6, "cell_name": "bottom-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0008, "cell_detected": "O", "agree": true, "wall_s": 11.45, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", " ", "X", " ", "O", " ", " "], "board_after": ["O", " ", "X", " ", "X", " ", "O", " ", " "]}
+{"n": 5, "by": "minimax", "mark": "X", "cell": 3, "cell_name": "middle-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0035, "cell_detected": "X", "agree": true, "wall_s": 11.68, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", "X", "X", " ", "O", " ", " "], "board_after": ["O", " ", "X", "X", "X", " ", "O", " ", " "]}
+{"n": 6, "by": "agent-O", "mark": "O", "cell": 5, "cell_name": "middle-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0015, "cell_detected": "O", "agree": true, "wall_s": 11.24, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", "X", "X", "O", "O", " ", " "], "board_after": ["O", " ", "X", "X", "X", "O", "O", " ", " "]}
+{"n": 7, "by": "minimax", "mark": "X", "cell": 8, "cell_name": "bottom-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0019, "cell_detected": "X", "agree": true, "wall_s": 11.66, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", "X", "X", "O", "O", " ", "X"], "board_after": ["O", " ", "X", "X", "X", "O", "O", " ", "X"]}
+{"n": 8, "by": "agent-O", "mark": "O", "cell": 7, "cell_name": "bottom-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.001, "cell_detected": "O", "agree": true, "wall_s": 12.41, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", "X", "X", "O", "O", "O", "X"], "board_after": ["O", " ", "X", "X", "X", "O", "O", "O", "X"]}
+{"n": 9, "by": "minimax", "mark": "X", "cell": 1, "cell_name": "top-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0021, "cell_detected": "X", "agree": true, "wall_s": 11.66, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "X", "X", "X", "O", "O", "O", "X"], "board_after": ["O", "X", "X", "X", "X", "O", "O", "O", "X"]}

games/g01_agent_vs_minimax/transcript.md

@@ -0,0 +1,136 @@
+# g01_agent_vs_minimax — agent playing O
+
+**user:** Let's play tic-tac-toe. You are O. Place your marks with the robot. Your opponent (X) went first: the robot placed X in the center cell.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ 1 | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "1"}`
+
+**tool result (success):**
+```
+The robot placed O in top-left (placement error 1.3 mm).
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+status: in progress
+```
+
+**assistant:** I put O in the top-left corner, since a corner is the best reply when X opens in the centre.
+
+**user:** Your opponent (X) moved: the robot placed X in the top-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | 2 | X
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "7"}`
+
+**tool result (success):**
+```
+The robot placed O in bottom-left (placement error 0.8 mm).
+ O | 2 | X
+---------
+ 4 | X | 6
+---------
+ O | 8 | 9
+status: in progress
+```
+
+**assistant:** I put O in the bottom-left to block X's diagonal, and that also sets up my own win at middle-left.
+
+**user:** Your opponent (X) moved: the robot placed X in the middle-left cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | 2 | X
+---------
+ X | X | 6
+---------
+ O | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "6"}`
+
+**tool result (success):**
+```
+The robot placed O in middle-right (placement error 1.5 mm).
+ O | 2 | X
+---------
+ X | X | O
+---------
+ O | 8 | 9
+status: in progress
+```
+
+**assistant:** X blocked my win at middle-left, so I put O in the middle-right to stop X's line across the middle row.
+
+**user:** Your opponent (X) moved: the robot placed X in the bottom-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | 2 | X
+---------
+ X | X | O
+---------
+ O | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "8"}`
+
+**tool result (success):**
+```
+The robot placed O in bottom-center (placement error 1.0 mm).
+ O | 2 | X
+---------
+ X | X | O
+---------
+ O | O | X
+status: in progress
+```
+
+**assistant:** I put O in the bottom-centre, which blocks X's middle column; only the top-centre is left, so this game will be a draw.
+
+
+## Result: draw
+
+```
+ O | X | X
+---------
+ X | X | O
+---------
+ O | O | X
+```

games/g02_agent_vs_minimax/game.json

@@ -0,0 +1,93 @@
+{
+ "result": {
+  "game": "g02_agent_vs_minimax",
+  "mode": "agent_vs_minimax",
+  "agent_mark": "X",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "O",
+   "X",
+   "X",
+   "O",
+   "X",
+   "O",
+   "X"
+  ],
+  "n_moves": 9,
+  "placements_ok": 9,
+  "grasp_ok": 9,
+  "mean_err_mm": 1.78,
+  "max_err_mm": 4.2,
+  "vision_disagreements": 0,
+  "wall_s": 157.9,
+  "robot_s": 104.3,
+  "llm_s": 104.6,
+  "agent_turns_without_move": 0,
+  "complete": true
+ },
+ "llm_turns": [
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Let's play tic-tac-toe. You are X. Place your marks with the robot. You go first.",
+     "reply": "I put X in the center because it's the strongest opening square and sets up the most ways to win.",
+     "llm_s": 20.0
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the top-left cell. Your turn.",
+     "reply": "I put X in the bottom-right corner, opposite O's corner, to set up more ways to win later.",
+     "llm_s": 21.2
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the top-right cell. Your turn.",
+     "reply": "I put X in top-center to stop O from completing the top row, and now I threaten to win at bottom-center.",
+     "llm_s": 19.6
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the bottom-center cell. Your turn.",
+     "reply": "I put X in middle-left, which blocks O's left column and sets up a win at middle-right.",
+     "llm_s": 22.2
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the middle-right cell. Your turn.",
+     "reply": "The game ended in a draw: I put X in bottom-left, the last open square, after O blocked my middle row.",
+     "llm_s": 21.6
+    }
+   ]
+  }
+ ]
+}

games/g02_agent_vs_minimax/moves.jsonl

@@ -0,0 +1,9 @@
+{"n": 1, "by": "agent-X", "mark": "X", "cell": 4, "cell_name": "center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 11.79, "sim_s": 0.0, "frames": null, "error": null, "vision_board": [" ", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": [" ", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 2, "by": "minimax", "mark": "O", "cell": 0, "cell_name": "top-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0013, "cell_detected": "O", "agree": true, "wall_s": 11.56, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 3, "by": "agent-X", "mark": "X", "cell": 8, "cell_name": "bottom-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0007, "cell_detected": "X", "agree": true, "wall_s": 11.81, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", "X"], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", "X"]}
+{"n": 4, "by": "minimax", "mark": "O", "cell": 2, "cell_name": "top-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0018, "cell_detected": "O", "agree": true, "wall_s": 11.5, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "O", " ", "X", " ", " ", " ", "X"], "board_after": ["O", " ", "O", " ", "X", " ", " ", " ", "X"]}
+{"n": 5, "by": "agent-X", "mark": "X", "cell": 1, "cell_name": "top-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0042, "cell_detected": "X", "agree": true, "wall_s": 11.61, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", " ", "X", " ", " ", " ", "X"], "board_after": ["O", "X", "O", " ", "X", " ", " ", " ", "X"]}
+{"n": 6, "by": "minimax", "mark": "O", "cell": 7, "cell_name": "bottom-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0011, "cell_detected": "O", "agree": true, "wall_s": 11.47, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", " ", "X", " ", " ", "O", "X"], "board_after": ["O", "X", "O", " ", "X", " ", " ", "O", "X"]}
+{"n": 7, "by": "agent-X", "mark": "X", "cell": 3, "cell_name": "middle-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 11.31, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", " ", " ", "O", "X"], "board_after": ["O", "X", "O", "X", "X", " ", " ", "O", "X"]}
+{"n": 8, "by": "minimax", "mark": "O", "cell": 5, "cell_name": "middle-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0015, "cell_detected": "O", "agree": true, "wall_s": 11.05, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", "O", " ", "O", "X"], "board_after": ["O", "X", "O", "X", "X", "O", " ", "O", "X"]}
+{"n": 9, "by": "agent-X", "mark": "X", "cell": 6, "cell_name": "bottom-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0006, "cell_detected": "X", "agree": true, "wall_s": 12.23, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", "O", "X", "O", "X"], "board_after": ["O", "X", "O", "X", "X", "O", "X", "O", "X"]}

games/g02_agent_vs_minimax/transcript.md

@@ -0,0 +1,167 @@
+# g02_agent_vs_minimax — agent playing X
+
+**user:** Let's play tic-tac-toe. You are X. Place your marks with the robot. You go first.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ 1 | 2 | 3
+---------
+ 4 | 5 | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "center"}`
+
+**tool result (success):**
+```
+The robot placed X in center (placement error 2.4 mm).
+ 1 | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+status: in progress
+```
+
+**assistant:** I put X in the center because it's the strongest opening square and sets up the most ways to win.
+
+**user:** Your opponent (O) moved: the robot placed O in the top-left cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "9"}`
+
+**tool result (success):**
+```
+The robot placed X in bottom-right (placement error 0.7 mm).
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I put X in the bottom-right corner, opposite O's corner, to set up more ways to win later.
+
+**user:** Your opponent (O) moved: the robot placed O in the top-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | 2 | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "2"}`
+
+**tool result (success):**
+```
+The robot placed X in top-center (placement error 4.2 mm).
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I put X in top-center to stop O from completing the top row, and now I threaten to win at bottom-center.
+
+**user:** Your opponent (O) moved: the robot placed O in the bottom-center cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "4"}`
+
+**tool result (success):**
+```
+The robot placed X in middle-left (placement error 2.4 mm).
+ O | X | O
+---------
+ X | X | 6
+---------
+ 7 | O | X
+status: in progress
+```
+
+**assistant:** I put X in middle-left, which blocks O's left column and sets up a win at middle-right.
+
+**user:** Your opponent (O) moved: the robot placed O in the middle-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | X | O
+---------
+ X | X | O
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "7"}`
+
+**tool result (success):**
+```
+The robot placed X in bottom-left (placement error 0.6 mm).
+ O | X | O
+---------
+ X | X | O
+---------
+ X | O | X
+status: draw
+```
+
+**assistant:** The game ended in a draw: I put X in bottom-left, the last open square, after O blocked my middle row.
+
+
+## Result: draw
+
+```
+ O | X | O
+---------
+ X | X | O
+---------
+ X | O | X
+```

games/g03_agent_vs_minimax/game.json

@@ -0,0 +1,81 @@
+{
+ "result": {
+  "game": "g03_agent_vs_minimax",
+  "mode": "agent_vs_minimax",
+  "agent_mark": "O",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "X",
+   "X",
+   "X",
+   "O",
+   "O",
+   "O",
+   "X"
+  ],
+  "n_moves": 9,
+  "placements_ok": 9,
+  "grasp_ok": 9,
+  "mean_err_mm": 1.76,
+  "max_err_mm": 3.5,
+  "vision_disagreements": 0,
+  "wall_s": 152.8,
+  "robot_s": 103.3,
+  "llm_s": 85.4,
+  "agent_turns_without_move": 0,
+  "complete": true
+ },
+ "llm_turns": [
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Let's play tic-tac-toe. You are O. Place your marks with the robot. Your opponent (X) went first: the robot placed X in the center cell.",
+     "reply": "I placed O in the top-left corner, the strongest reply when X takes the center.",
+     "llm_s": 19.7
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the top-right cell. Your turn.",
+     "reply": "I put O in the bottom-left to block X's diagonal, and now I threaten to win down the left column at middle-left.",
+     "llm_s": 20.6
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the middle-left cell. Your turn.",
+     "reply": "I put O in the middle-right to stop X from completing the middle row.",
+     "llm_s": 22.0
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the bottom-right cell. Your turn.",
+     "reply": "I put O in the bottom-center to block X's middle column, so the last square can only end the game in a draw.",
+     "llm_s": 23.1
+    }
+   ]
+  }
+ ]
+}

games/g03_agent_vs_minimax/moves.jsonl

@@ -0,0 +1,9 @@
+{"n": 1, "by": "minimax", "mark": "X", "cell": 4, "cell_name": "center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 11.75, "sim_s": 0.0, "frames": null, "error": null, "vision_board": [" ", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": [" ", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 2, "by": "agent-O", "mark": "O", "cell": 0, "cell_name": "top-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0013, "cell_detected": "O", "agree": true, "wall_s": 11.77, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 3, "by": "minimax", "mark": "X", "cell": 2, "cell_name": "top-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0013, "cell_detected": "X", "agree": true, "wall_s": 11.52, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", " ", "X", " ", " ", " ", " "], "board_after": ["O", " ", "X", " ", "X", " ", " ", " ", " "]}
+{"n": 4, "by": "agent-O", "mark": "O", "cell": 6, "cell_name": "bottom-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0008, "cell_detected": "O", "agree": true, "wall_s": 11.41, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", " ", "X", " ", "O", " ", " "], "board_after": ["O", " ", "X", " ", "X", " ", "O", " ", " "]}
+{"n": 5, "by": "minimax", "mark": "X", "cell": 3, "cell_name": "middle-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0035, "cell_detected": "X", "agree": true, "wall_s": 11.23, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", "X", "X", " ", "O", " ", " "], "board_after": ["O", " ", "X", "X", "X", " ", "O", " ", " "]}
+{"n": 6, "by": "agent-O", "mark": "O", "cell": 5, "cell_name": "middle-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0015, "cell_detected": "O", "agree": true, "wall_s": 11.37, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", "X", "X", "O", "O", " ", " "], "board_after": ["O", " ", "X", "X", "X", "O", "O", " ", " "]}
+{"n": 7, "by": "minimax", "mark": "X", "cell": 8, "cell_name": "bottom-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0019, "cell_detected": "X", "agree": true, "wall_s": 11.4, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", "X", "X", "O", "O", " ", "X"], "board_after": ["O", " ", "X", "X", "X", "O", "O", " ", "X"]}
+{"n": 8, "by": "agent-O", "mark": "O", "cell": 7, "cell_name": "bottom-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.001, "cell_detected": "O", "agree": true, "wall_s": 11.47, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", "X", "X", "O", "O", "O", "X"], "board_after": ["O", " ", "X", "X", "X", "O", "O", "O", "X"]}
+{"n": 9, "by": "minimax", "mark": "X", "cell": 1, "cell_name": "top-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0021, "cell_detected": "X", "agree": true, "wall_s": 11.38, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "X", "X", "X", "O", "O", "O", "X"], "board_after": ["O", "X", "X", "X", "X", "O", "O", "O", "X"]}

games/g03_agent_vs_minimax/transcript.md

@@ -0,0 +1,136 @@
+# g03_agent_vs_minimax — agent playing O
+
+**user:** Let's play tic-tac-toe. You are O. Place your marks with the robot. Your opponent (X) went first: the robot placed X in the center cell.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ 1 | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "1"}`
+
+**tool result (success):**
+```
+The robot placed O in top-left (placement error 1.3 mm).
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+status: in progress
+```
+
+**assistant:** I placed O in the top-left corner, the strongest reply when X takes the center.
+
+**user:** Your opponent (X) moved: the robot placed X in the top-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | 2 | X
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "7"}`
+
+**tool result (success):**
+```
+The robot placed O in bottom-left (placement error 0.8 mm).
+ O | 2 | X
+---------
+ 4 | X | 6
+---------
+ O | 8 | 9
+status: in progress
+```
+
+**assistant:** I put O in the bottom-left to block X's diagonal, and now I threaten to win down the left column at middle-left.
+
+**user:** Your opponent (X) moved: the robot placed X in the middle-left cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | 2 | X
+---------
+ X | X | 6
+---------
+ O | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "6"}`
+
+**tool result (success):**
+```
+The robot placed O in middle-right (placement error 1.5 mm).
+ O | 2 | X
+---------
+ X | X | O
+---------
+ O | 8 | 9
+status: in progress
+```
+
+**assistant:** I put O in the middle-right to stop X from completing the middle row.
+
+**user:** Your opponent (X) moved: the robot placed X in the bottom-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | 2 | X
+---------
+ X | X | O
+---------
+ O | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "8"}`
+
+**tool result (success):**
+```
+The robot placed O in bottom-center (placement error 1.0 mm).
+ O | 2 | X
+---------
+ X | X | O
+---------
+ O | O | X
+status: in progress
+```
+
+**assistant:** I put O in the bottom-center to block X's middle column, so the last square can only end the game in a draw.
+
+
+## Result: draw
+
+```
+ O | X | X
+---------
+ X | X | O
+---------
+ O | O | X
+```

games/g04_agent_vs_minimax/game.json

@@ -0,0 +1,93 @@
+{
+ "result": {
+  "game": "g04_agent_vs_minimax",
+  "mode": "agent_vs_minimax",
+  "agent_mark": "X",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "O",
+   "X",
+   "X",
+   "O",
+   "X",
+   "O",
+   "X"
+  ],
+  "n_moves": 9,
+  "placements_ok": 9,
+  "grasp_ok": 9,
+  "mean_err_mm": 1.78,
+  "max_err_mm": 4.2,
+  "vision_disagreements": 0,
+  "wall_s": 159.6,
+  "robot_s": 105.2,
+  "llm_s": 105.0,
+  "agent_turns_without_move": 0,
+  "complete": true
+ },
+ "llm_turns": [
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Let's play tic-tac-toe. You are X. Place your marks with the robot. You go first.",
+     "reply": "I put X in the centre because it's the strongest first move and gives the most chances to win.",
+     "llm_s": 20.2
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the top-left cell. Your turn.",
+     "reply": "I put X in the bottom-right corner, across from O, so there's no immediate threat and O has to respond to my diagonal.",
+     "llm_s": 20.2
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the top-right cell. Your turn.",
+     "reply": "I put X in the top-centre to stop O's top row, and now I threaten to win at the bottom-centre.",
+     "llm_s": 19.5
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the bottom-center cell. Your turn.",
+     "reply": "I put X in the middle-left, which stops O's left column and sets up a win for me at the middle-right.",
+     "llm_s": 24.5
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the middle-right cell. Your turn.",
+     "reply": "I put X in the last empty cell, the bottom-left, so the board is full and the game ends in a draw.",
+     "llm_s": 20.6
+    }
+   ]
+  }
+ ]
+}

games/g04_agent_vs_minimax/moves.jsonl

@@ -0,0 +1,9 @@
+{"n": 1, "by": "agent-X", "mark": "X", "cell": 4, "cell_name": "center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 12.18, "sim_s": 0.0, "frames": null, "error": null, "vision_board": [" ", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": [" ", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 2, "by": "minimax", "mark": "O", "cell": 0, "cell_name": "top-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0013, "cell_detected": "O", "agree": true, "wall_s": 11.65, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 3, "by": "agent-X", "mark": "X", "cell": 8, "cell_name": "bottom-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0007, "cell_detected": "X", "agree": true, "wall_s": 11.78, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", "X"], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", "X"]}
+{"n": 4, "by": "minimax", "mark": "O", "cell": 2, "cell_name": "top-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0018, "cell_detected": "O", "agree": true, "wall_s": 11.57, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "O", " ", "X", " ", " ", " ", "X"], "board_after": ["O", " ", "O", " ", "X", " ", " ", " ", "X"]}
+{"n": 5, "by": "agent-X", "mark": "X", "cell": 1, "cell_name": "top-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0042, "cell_detected": "X", "agree": true, "wall_s": 11.19, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", " ", "X", " ", " ", " ", "X"], "board_after": ["O", "X", "O", " ", "X", " ", " ", " ", "X"]}
+{"n": 6, "by": "minimax", "mark": "O", "cell": 7, "cell_name": "bottom-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0011, "cell_detected": "O", "agree": true, "wall_s": 11.74, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", " ", "X", " ", " ", "O", "X"], "board_after": ["O", "X", "O", " ", "X", " ", " ", "O", "X"]}
+{"n": 7, "by": "agent-X", "mark": "X", "cell": 3, "cell_name": "middle-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 11.52, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", " ", " ", "O", "X"], "board_after": ["O", "X", "O", "X", "X", " ", " ", "O", "X"]}
+{"n": 8, "by": "minimax", "mark": "O", "cell": 5, "cell_name": "middle-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0015, "cell_detected": "O", "agree": true, "wall_s": 11.49, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", "O", " ", "O", "X"], "board_after": ["O", "X", "O", "X", "X", "O", " ", "O", "X"]}
+{"n": 9, "by": "agent-X", "mark": "X", "cell": 6, "cell_name": "bottom-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0006, "cell_detected": "X", "agree": true, "wall_s": 12.12, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", "O", "X", "O", "X"], "board_after": ["O", "X", "O", "X", "X", "O", "X", "O", "X"]}

games/g04_agent_vs_minimax/transcript.md

@@ -0,0 +1,167 @@
+# g04_agent_vs_minimax — agent playing X
+
+**user:** Let's play tic-tac-toe. You are X. Place your marks with the robot. You go first.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ 1 | 2 | 3
+---------
+ 4 | 5 | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "center"}`
+
+**tool result (success):**
+```
+The robot placed X in center (placement error 2.4 mm).
+ 1 | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+status: in progress
+```
+
+**assistant:** I put X in the centre because it's the strongest first move and gives the most chances to win.
+
+**user:** Your opponent (O) moved: the robot placed O in the top-left cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "9"}`
+
+**tool result (success):**
+```
+The robot placed X in bottom-right (placement error 0.7 mm).
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I put X in the bottom-right corner, across from O, so there's no immediate threat and O has to respond to my diagonal.
+
+**user:** Your opponent (O) moved: the robot placed O in the top-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | 2 | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "2"}`
+
+**tool result (success):**
+```
+The robot placed X in top-center (placement error 4.2 mm).
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I put X in the top-centre to stop O's top row, and now I threaten to win at the bottom-centre.
+
+**user:** Your opponent (O) moved: the robot placed O in the bottom-center cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "4"}`
+
+**tool result (success):**
+```
+The robot placed X in middle-left (placement error 2.4 mm).
+ O | X | O
+---------
+ X | X | 6
+---------
+ 7 | O | X
+status: in progress
+```
+
+**assistant:** I put X in the middle-left, which stops O's left column and sets up a win for me at the middle-right.
+
+**user:** Your opponent (O) moved: the robot placed O in the middle-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | X | O
+---------
+ X | X | O
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "7"}`
+
+**tool result (success):**
+```
+The robot placed X in bottom-left (placement error 0.6 mm).
+ O | X | O
+---------
+ X | X | O
+---------
+ X | O | X
+status: draw
+```
+
+**assistant:** I put X in the last empty cell, the bottom-left, so the board is full and the game ends in a draw.
+
+
+## Result: draw
+
+```
+ O | X | O
+---------
+ X | X | O
+---------
+ X | O | X
+```

games/g05_agent_vs_minimax/game.json

@@ -0,0 +1,81 @@
+{
+ "result": {
+  "game": "g05_agent_vs_minimax",
+  "mode": "agent_vs_minimax",
+  "agent_mark": "O",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "O",
+   "X",
+   "X",
+   "X",
+   "O",
+   "O",
+   "X",
+   "X"
+  ],
+  "n_moves": 9,
+  "placements_ok": 9,
+  "grasp_ok": 9,
+  "mean_err_mm": 1.82,
+  "max_err_mm": 3.5,
+  "vision_disagreements": 0,
+  "wall_s": 152.6,
+  "robot_s": 105.5,
+  "llm_s": 82.8,
+  "agent_turns_without_move": 0,
+  "complete": true
+ },
+ "llm_turns": [
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Let's play tic-tac-toe. You are O. Place your marks with the robot. Your opponent (X) went first: the robot placed X in the center cell.",
+     "reply": "I put O in the top-left corner, because a corner is the safest reply when X opens in the center.",
+     "llm_s": 20.5
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the top-right cell. Your turn.",
+     "reply": "I put O in the bottom-left to block X's diagonal, and now I threaten to win with the middle-left cell.",
+     "llm_s": 20.8
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the middle-left cell. Your turn.",
+     "reply": "I put O in the middle-right to stop X from completing the middle row.",
+     "llm_s": 19.9
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the bottom-right cell. Your turn.",
+     "reply": "I put O in the top-center, which blocks X's middle column, so the game will end in a draw once X fills the last cell.",
+     "llm_s": 21.6
+    }
+   ]
+  }
+ ]
+}

games/g05_agent_vs_minimax/moves.jsonl

@@ -0,0 +1,9 @@
+{"n": 1, "by": "minimax", "mark": "X", "cell": 4, "cell_name": "center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 11.92, "sim_s": 0.0, "frames": null, "error": null, "vision_board": [" ", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": [" ", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 2, "by": "agent-O", "mark": "O", "cell": 0, "cell_name": "top-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0013, "cell_detected": "O", "agree": true, "wall_s": 11.86, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 3, "by": "minimax", "mark": "X", "cell": 2, "cell_name": "top-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0013, "cell_detected": "X", "agree": true, "wall_s": 12.03, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", " ", "X", " ", " ", " ", " "], "board_after": ["O", " ", "X", " ", "X", " ", " ", " ", " "]}
+{"n": 4, "by": "agent-O", "mark": "O", "cell": 6, "cell_name": "bottom-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0008, "cell_detected": "O", "agree": true, "wall_s": 11.76, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", " ", "X", " ", "O", " ", " "], "board_after": ["O", " ", "X", " ", "X", " ", "O", " ", " "]}
+{"n": 5, "by": "minimax", "mark": "X", "cell": 3, "cell_name": "middle-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0035, "cell_detected": "X", "agree": true, "wall_s": 11.3, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", "X", "X", " ", "O", " ", " "], "board_after": ["O", " ", "X", "X", "X", " ", "O", " ", " "]}
+{"n": 6, "by": "agent-O", "mark": "O", "cell": 5, "cell_name": "middle-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0015, "cell_detected": "O", "agree": true, "wall_s": 11.24, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", "X", "X", "O", "O", " ", " "], "board_after": ["O", " ", "X", "X", "X", "O", "O", " ", " "]}
+{"n": 7, "by": "minimax", "mark": "X", "cell": 8, "cell_name": "bottom-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0019, "cell_detected": "X", "agree": true, "wall_s": 11.94, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "X", "X", "X", "O", "O", " ", "X"], "board_after": ["O", " ", "X", "X", "X", "O", "O", " ", "X"]}
+{"n": 8, "by": "agent-O", "mark": "O", "cell": 1, "cell_name": "top-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0013, "cell_detected": "O", "agree": true, "wall_s": 11.54, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "O", "X", "X", "X", "O", "O", " ", "X"], "board_after": ["O", "O", "X", "X", "X", "O", "O", " ", "X"]}
+{"n": 9, "by": "minimax", "mark": "X", "cell": 7, "cell_name": "bottom-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 11.91, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "O", "X", "X", "X", "O", "O", "X", "X"], "board_after": ["O", "O", "X", "X", "X", "O", "O", "X", "X"]}

games/g05_agent_vs_minimax/transcript.md

@@ -0,0 +1,136 @@
+# g05_agent_vs_minimax — agent playing O
+
+**user:** Let's play tic-tac-toe. You are O. Place your marks with the robot. Your opponent (X) went first: the robot placed X in the center cell.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ 1 | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "1"}`
+
+**tool result (success):**
+```
+The robot placed O in top-left (placement error 1.3 mm).
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+status: in progress
+```
+
+**assistant:** I put O in the top-left corner, because a corner is the safest reply when X opens in the center.
+
+**user:** Your opponent (X) moved: the robot placed X in the top-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | 2 | X
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "7"}`
+
+**tool result (success):**
+```
+The robot placed O in bottom-left (placement error 0.8 mm).
+ O | 2 | X
+---------
+ 4 | X | 6
+---------
+ O | 8 | 9
+status: in progress
+```
+
+**assistant:** I put O in the bottom-left to block X's diagonal, and now I threaten to win with the middle-left cell.
+
+**user:** Your opponent (X) moved: the robot placed X in the middle-left cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | 2 | X
+---------
+ X | X | 6
+---------
+ O | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "6"}`
+
+**tool result (success):**
+```
+The robot placed O in middle-right (placement error 1.5 mm).
+ O | 2 | X
+---------
+ X | X | O
+---------
+ O | 8 | 9
+status: in progress
+```
+
+**assistant:** I put O in the middle-right to stop X from completing the middle row.
+
+**user:** Your opponent (X) moved: the robot placed X in the bottom-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | 2 | X
+---------
+ X | X | O
+---------
+ O | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "2"}`
+
+**tool result (success):**
+```
+The robot placed O in top-center (placement error 1.3 mm).
+ O | O | X
+---------
+ X | X | O
+---------
+ O | 8 | X
+status: in progress
+```
+
+**assistant:** I put O in the top-center, which blocks X's middle column, so the game will end in a draw once X fills the last cell.
+
+
+## Result: draw
+
+```
+ O | O | X
+---------
+ X | X | O
+---------
+ O | X | X
+```

games/g06_agent_vs_agent/game.json

@@ -0,0 +1,141 @@
+{
+ "result": {
+  "game": "g06_agent_vs_agent",
+  "mode": "agent_vs_agent",
+  "agent_mark": "XO",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "O",
+   "X",
+   "X",
+   "O",
+   "X",
+   "O",
+   "X"
+  ],
+  "n_moves": 9,
+  "placements_ok": 9,
+  "grasp_ok": 9,
+  "mean_err_mm": 1.78,
+  "max_err_mm": 4.2,
+  "vision_disagreements": 0,
+  "wall_s": 191.5,
+  "robot_s": 104.3,
+  "llm_s": 191.3,
+  "agent_turns_without_move": 0,
+  "complete": true
+ },
+ "llm_turns": [
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Let's play tic-tac-toe. You are X. Place your marks with the robot. You go first.",
+     "reply": "I took the center square because it's part of the most possible winning lines.",
+     "llm_s": 19.9
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Let's play tic-tac-toe. You are O. Place your marks with the robot. Your opponent (X) went first: the robot placed X in the center cell.",
+     "reply": "I took the top-left corner, since a corner is the strongest reply when X opens in the center.",
+     "llm_s": 21.4
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the top-left cell. Your turn.",
+     "reply": "I took the bottom-right corner opposite O's corner, which keeps pressure on both diagonals and sets up threats for later.",
+     "llm_s": 22.4
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the bottom-right cell. Your turn.",
+     "reply": "I placed O in the top-right corner, which sets up a win threat at top-center that X has to block.",
+     "llm_s": 21.8
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the top-right cell. Your turn.",
+     "reply": "I blocked O's top-row threat at top-center, and now I threaten to win with bottom-center (the middle column).",
+     "llm_s": 20.2
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the top-center cell. Your turn.",
+     "reply": "I placed O at bottom-center to stop X from winning down the middle column.",
+     "llm_s": 20.1
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the bottom-center cell. Your turn.",
+     "reply": "I took middle-left, which blocks O's left column and sets up a win with middle-right.",
+     "llm_s": 23.0
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the middle-left cell. Your turn.",
+     "reply": "I placed O at middle-right to block X's middle row, and with only bottom-left left, the game will end in a draw.",
+     "llm_s": 21.8
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the middle-right cell. Your turn.",
+     "reply": "The game ended in a draw: I placed X in bottom-left, the last open square, after O blocked my middle row.",
+     "llm_s": 20.7
+    }
+   ]
+  }
+ ]
+}

games/g06_agent_vs_agent/moves.jsonl

@@ -0,0 +1,9 @@
+{"n": 1, "by": "agent-X", "mark": "X", "cell": 4, "cell_name": "center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 12.07, "sim_s": 0.0, "frames": null, "error": null, "vision_board": [" ", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": [" ", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 2, "by": "agent-O", "mark": "O", "cell": 0, "cell_name": "top-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0013, "cell_detected": "O", "agree": true, "wall_s": 11.69, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 3, "by": "agent-X", "mark": "X", "cell": 8, "cell_name": "bottom-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0007, "cell_detected": "X", "agree": true, "wall_s": 11.42, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", "X"], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", "X"]}
+{"n": 4, "by": "agent-O", "mark": "O", "cell": 2, "cell_name": "top-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0018, "cell_detected": "O", "agree": true, "wall_s": 11.45, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "O", " ", "X", " ", " ", " ", "X"], "board_after": ["O", " ", "O", " ", "X", " ", " ", " ", "X"]}
+{"n": 5, "by": "agent-X", "mark": "X", "cell": 1, "cell_name": "top-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0042, "cell_detected": "X", "agree": true, "wall_s": 11.33, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", " ", "X", " ", " ", " ", "X"], "board_after": ["O", "X", "O", " ", "X", " ", " ", " ", "X"]}
+{"n": 6, "by": "agent-O", "mark": "O", "cell": 7, "cell_name": "bottom-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0011, "cell_detected": "O", "agree": true, "wall_s": 11.41, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", " ", "X", " ", " ", "O", "X"], "board_after": ["O", "X", "O", " ", "X", " ", " ", "O", "X"]}
+{"n": 7, "by": "agent-X", "mark": "X", "cell": 3, "cell_name": "middle-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 11.49, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", " ", " ", "O", "X"], "board_after": ["O", "X", "O", "X", "X", " ", " ", "O", "X"]}
+{"n": 8, "by": "agent-O", "mark": "O", "cell": 5, "cell_name": "middle-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0015, "cell_detected": "O", "agree": true, "wall_s": 11.5, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", "O", " ", "O", "X"], "board_after": ["O", "X", "O", "X", "X", "O", " ", "O", "X"]}
+{"n": 9, "by": "agent-X", "mark": "X", "cell": 6, "cell_name": "bottom-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0006, "cell_detected": "X", "agree": true, "wall_s": 11.93, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", "O", "X", "O", "X"], "board_after": ["O", "X", "O", "X", "X", "O", "X", "O", "X"]}

games/g06_agent_vs_agent/transcript.md

@@ -0,0 +1,294 @@
+# g06_agent_vs_agent — agent playing X
+
+**user:** Let's play tic-tac-toe. You are X. Place your marks with the robot. You go first.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ 1 | 2 | 3
+---------
+ 4 | 5 | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "center"}`
+
+**tool result (success):**
+```
+The robot placed X in center (placement error 2.4 mm).
+ 1 | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+status: in progress
+```
+
+**assistant:** I took the center square because it's part of the most possible winning lines.
+
+**user:** Your opponent (O) moved: the robot placed O in the top-left cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "9"}`
+
+**tool result (success):**
+```
+The robot placed X in bottom-right (placement error 0.7 mm).
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I took the bottom-right corner opposite O's corner, which keeps pressure on both diagonals and sets up threats for later.
+
+**user:** Your opponent (O) moved: the robot placed O in the top-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | 2 | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "2"}`
+
+**tool result (success):**
+```
+The robot placed X in top-center (placement error 4.2 mm).
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I blocked O's top-row threat at top-center, and now I threaten to win with bottom-center (the middle column).
+
+**user:** Your opponent (O) moved: the robot placed O in the bottom-center cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "4"}`
+
+**tool result (success):**
+```
+The robot placed X in middle-left (placement error 2.4 mm).
+ O | X | O
+---------
+ X | X | 6
+---------
+ 7 | O | X
+status: in progress
+```
+
+**assistant:** I took middle-left, which blocks O's left column and sets up a win with middle-right.
+
+**user:** Your opponent (O) moved: the robot placed O in the middle-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | X | O
+---------
+ X | X | O
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "7"}`
+
+**tool result (success):**
+```
+The robot placed X in bottom-left (placement error 0.6 mm).
+ O | X | O
+---------
+ X | X | O
+---------
+ X | O | X
+status: draw
+```
+
+**assistant:** The game ended in a draw: I placed X in bottom-left, the last open square, after O blocked my middle row.
+
+
+# g06_agent_vs_agent — agent playing O
+
+**user:** Let's play tic-tac-toe. You are O. Place your marks with the robot. Your opponent (X) went first: the robot placed X in the center cell.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ 1 | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "1"}`
+
+**tool result (success):**
+```
+The robot placed O in top-left (placement error 1.3 mm).
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+status: in progress
+```
+
+**assistant:** I took the top-left corner, since a corner is the strongest reply when X opens in the center.
+
+**user:** Your opponent (X) moved: the robot placed X in the bottom-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "3"}`
+
+**tool result (success):**
+```
+The robot placed O in top-right (placement error 1.8 mm).
+ O | 2 | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I placed O in the top-right corner, which sets up a win threat at top-center that X has to block.
+
+**user:** Your opponent (X) moved: the robot placed X in the top-center cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "8"}`
+
+**tool result (success):**
+```
+The robot placed O in bottom-center (placement error 1.1 mm).
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | O | X
+status: in progress
+```
+
+**assistant:** I placed O at bottom-center to stop X from winning down the middle column.
+
+**user:** Your opponent (X) moved: the robot placed X in the middle-left cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | X | O
+---------
+ X | X | 6
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "6"}`
+
+**tool result (success):**
+```
+The robot placed O in middle-right (placement error 1.5 mm).
+ O | X | O
+---------
+ X | X | O
+---------
+ 7 | O | X
+status: in progress
+```
+
+**assistant:** I placed O at middle-right to block X's middle row, and with only bottom-left left, the game will end in a draw.
+
+
+## Result: draw
+
+```
+ O | X | O
+---------
+ X | X | O
+---------
+ X | O | X
+```

games/g07_agent_vs_agent/game.json

@@ -0,0 +1,141 @@
+{
+ "result": {
+  "game": "g07_agent_vs_agent",
+  "mode": "agent_vs_agent",
+  "agent_mark": "XO",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "O",
+   "X",
+   "X",
+   "O",
+   "X",
+   "O",
+   "X"
+  ],
+  "n_moves": 9,
+  "placements_ok": 9,
+  "grasp_ok": 9,
+  "mean_err_mm": 1.78,
+  "max_err_mm": 4.2,
+  "vision_disagreements": 0,
+  "wall_s": 190.3,
+  "robot_s": 105.1,
+  "llm_s": 190.1,
+  "agent_turns_without_move": 0,
+  "complete": true
+ },
+ "llm_turns": [
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Let's play tic-tac-toe. You are X. Place your marks with the robot. You go first.",
+     "reply": "I had the robot put my first X in the center, because that square is part of the most winning lines.",
+     "llm_s": 20.0
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Let's play tic-tac-toe. You are O. Place your marks with the robot. Your opponent (X) went first: the robot placed X in the center cell.",
+     "reply": "I placed O in the top-left corner, because a corner is the best reply when X opens in the center.",
+     "llm_s": 20.6
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the top-left cell. Your turn.",
+     "reply": "I put X in the bottom-right corner, across from O's corner, so I can set up more ways to win.",
+     "llm_s": 19.8
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the bottom-right cell. Your turn.",
+     "reply": "I placed O in the top-right corner, which lets me win next turn in the top-center and forces X to block there.",
+     "llm_s": 20.6
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the top-right cell. Your turn.",
+     "reply": "I took the top-center to block O from winning across the top row, and now I can win by taking bottom-center next.",
+     "llm_s": 19.7
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the top-center cell. Your turn.",
+     "reply": "I placed O in the bottom-center to stop X from completing the middle column, since I had no winning move.",
+     "llm_s": 20.5
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the bottom-center cell. Your turn.",
+     "reply": "I played middle-left, which blocks O's left column and sets me up to win the middle row at middle-right.",
+     "llm_s": 24.5
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the middle-left cell. Your turn.",
+     "reply": "I placed O in the middle-right to block X's middle row, and the only cell left is bottom-left, where no line can be completed, so the game will end in a draw.",
+     "llm_s": 21.0
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the middle-right cell. Your turn.",
+     "reply": "I took the last open square, bottom-left, and the game ended in a draw because O blocked every winning line.",
+     "llm_s": 23.4
+    }
+   ]
+  }
+ ]
+}

games/g07_agent_vs_agent/moves.jsonl

@@ -0,0 +1,9 @@
+{"n": 1, "by": "agent-X", "mark": "X", "cell": 4, "cell_name": "center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 11.88, "sim_s": 0.0, "frames": null, "error": null, "vision_board": [" ", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": [" ", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 2, "by": "agent-O", "mark": "O", "cell": 0, "cell_name": "top-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0013, "cell_detected": "O", "agree": true, "wall_s": 11.91, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 3, "by": "agent-X", "mark": "X", "cell": 8, "cell_name": "bottom-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0007, "cell_detected": "X", "agree": true, "wall_s": 11.59, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", "X"], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", "X"]}
+{"n": 4, "by": "agent-O", "mark": "O", "cell": 2, "cell_name": "top-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0018, "cell_detected": "O", "agree": true, "wall_s": 11.47, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "O", " ", "X", " ", " ", " ", "X"], "board_after": ["O", " ", "O", " ", "X", " ", " ", " ", "X"]}
+{"n": 5, "by": "agent-X", "mark": "X", "cell": 1, "cell_name": "top-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0042, "cell_detected": "X", "agree": true, "wall_s": 11.27, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", " ", "X", " ", " ", " ", "X"], "board_after": ["O", "X", "O", " ", "X", " ", " ", " ", "X"]}
+{"n": 6, "by": "agent-O", "mark": "O", "cell": 7, "cell_name": "bottom-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0011, "cell_detected": "O", "agree": true, "wall_s": 11.28, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", " ", "X", " ", " ", "O", "X"], "board_after": ["O", "X", "O", " ", "X", " ", " ", "O", "X"]}
+{"n": 7, "by": "agent-X", "mark": "X", "cell": 3, "cell_name": "middle-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 11.57, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", " ", " ", "O", "X"], "board_after": ["O", "X", "O", "X", "X", " ", " ", "O", "X"]}
+{"n": 8, "by": "agent-O", "mark": "O", "cell": 5, "cell_name": "middle-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0015, "cell_detected": "O", "agree": true, "wall_s": 11.62, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", "O", " ", "O", "X"], "board_after": ["O", "X", "O", "X", "X", "O", " ", "O", "X"]}
+{"n": 9, "by": "agent-X", "mark": "X", "cell": 6, "cell_name": "bottom-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0006, "cell_detected": "X", "agree": true, "wall_s": 12.53, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", "O", "X", "O", "X"], "board_after": ["O", "X", "O", "X", "X", "O", "X", "O", "X"]}

games/g07_agent_vs_agent/transcript.md

@@ -0,0 +1,294 @@
+# g07_agent_vs_agent — agent playing X
+
+**user:** Let's play tic-tac-toe. You are X. Place your marks with the robot. You go first.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ 1 | 2 | 3
+---------
+ 4 | 5 | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "center"}`
+
+**tool result (success):**
+```
+The robot placed X in center (placement error 2.4 mm).
+ 1 | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+status: in progress
+```
+
+**assistant:** I had the robot put my first X in the center, because that square is part of the most winning lines.
+
+**user:** Your opponent (O) moved: the robot placed O in the top-left cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "bottom-right"}`
+
+**tool result (success):**
+```
+The robot placed X in bottom-right (placement error 0.7 mm).
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I put X in the bottom-right corner, across from O's corner, so I can set up more ways to win.
+
+**user:** Your opponent (O) moved: the robot placed O in the top-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | 2 | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "top-center"}`
+
+**tool result (success):**
+```
+The robot placed X in top-center (placement error 4.2 mm).
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I took the top-center to block O from winning across the top row, and now I can win by taking bottom-center next.
+
+**user:** Your opponent (O) moved: the robot placed O in the bottom-center cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "middle-left"}`
+
+**tool result (success):**
+```
+The robot placed X in middle-left (placement error 2.4 mm).
+ O | X | O
+---------
+ X | X | 6
+---------
+ 7 | O | X
+status: in progress
+```
+
+**assistant:** I played middle-left, which blocks O's left column and sets me up to win the middle row at middle-right.
+
+**user:** Your opponent (O) moved: the robot placed O in the middle-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | X | O
+---------
+ X | X | O
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "bottom-left"}`
+
+**tool result (success):**
+```
+The robot placed X in bottom-left (placement error 0.6 mm).
+ O | X | O
+---------
+ X | X | O
+---------
+ X | O | X
+status: draw
+```
+
+**assistant:** I took the last open square, bottom-left, and the game ended in a draw because O blocked every winning line.
+
+
+# g07_agent_vs_agent — agent playing O
+
+**user:** Let's play tic-tac-toe. You are O. Place your marks with the robot. Your opponent (X) went first: the robot placed X in the center cell.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ 1 | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "1"}`
+
+**tool result (success):**
+```
+The robot placed O in top-left (placement error 1.3 mm).
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+status: in progress
+```
+
+**assistant:** I placed O in the top-left corner, because a corner is the best reply when X opens in the center.
+
+**user:** Your opponent (X) moved: the robot placed X in the bottom-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "3"}`
+
+**tool result (success):**
+```
+The robot placed O in top-right (placement error 1.8 mm).
+ O | 2 | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I placed O in the top-right corner, which lets me win next turn in the top-center and forces X to block there.
+
+**user:** Your opponent (X) moved: the robot placed X in the top-center cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "8"}`
+
+**tool result (success):**
+```
+The robot placed O in bottom-center (placement error 1.1 mm).
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | O | X
+status: in progress
+```
+
+**assistant:** I placed O in the bottom-center to stop X from completing the middle column, since I had no winning move.
+
+**user:** Your opponent (X) moved: the robot placed X in the middle-left cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | X | O
+---------
+ X | X | 6
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "6"}`
+
+**tool result (success):**
+```
+The robot placed O in middle-right (placement error 1.5 mm).
+ O | X | O
+---------
+ X | X | O
+---------
+ 7 | O | X
+status: in progress
+```
+
+**assistant:** I placed O in the middle-right to block X's middle row, and the only cell left is bottom-left, where no line can be completed, so the game will end in a draw.
+
+
+## Result: draw
+
+```
+ O | X | O
+---------
+ X | X | O
+---------
+ X | O | X
+```

games/g08_agent_vs_agent/game.json

@@ -0,0 +1,141 @@
+{
+ "result": {
+  "game": "g08_agent_vs_agent",
+  "mode": "agent_vs_agent",
+  "agent_mark": "XO",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "O",
+   "X",
+   "X",
+   "O",
+   "X",
+   "O",
+   "X"
+  ],
+  "n_moves": 9,
+  "placements_ok": 9,
+  "grasp_ok": 9,
+  "mean_err_mm": 1.78,
+  "max_err_mm": 4.2,
+  "vision_disagreements": 0,
+  "wall_s": 192.4,
+  "robot_s": 105.2,
+  "llm_s": 192.3,
+  "agent_turns_without_move": 0,
+  "complete": true
+ },
+ "llm_turns": [
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Let's play tic-tac-toe. You are X. Place your marks with the robot. You go first.",
+     "reply": "The robot put my X in the center, the strongest first move because it's part of the most possible winning lines.",
+     "llm_s": 21.8
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Let's play tic-tac-toe. You are O. Place your marks with the robot. Your opponent (X) went first: the robot placed X in the center cell.",
+     "reply": "I put O in the top-left corner, since a corner is the strongest reply when X opens in the center.",
+     "llm_s": 20.0
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the top-left cell. Your turn.",
+     "reply": "I put my X in the bottom-right corner, opposite O's corner, so I have two in a row and more ways to make winning lines next.",
+     "llm_s": 20.2
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the bottom-right cell. Your turn.",
+     "reply": "I put O in the top-right corner, so X has to block top-center or I'll win across the top row.",
+     "llm_s": 20.4
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the top-right cell. Your turn.",
+     "reply": "I put my X in the top-center to stop O from winning across the top row, and now I threaten to win at bottom-center.",
+     "llm_s": 19.8
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the top-center cell. Your turn.",
+     "reply": "I put O in bottom-center to stop X from winning down the middle column.",
+     "llm_s": 22.3
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the bottom-center cell. Your turn.",
+     "reply": "I put my X in the middle-left, which blocks O's left column and threatens to win across the middle row at middle-right.",
+     "llm_s": 24.5
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the middle-left cell. Your turn.",
+     "reply": "I put O in middle-right to block X's middle row, and the only cell left, bottom-left, can't give X a win, so this game ends in a draw.",
+     "llm_s": 21.1
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the middle-right cell. Your turn.",
+     "reply": "The game is a draw: I put my last X in the bottom-left, the only empty cell, after O blocked my middle-row win.",
+     "llm_s": 22.2
+    }
+   ]
+  }
+ ]
+}

games/g08_agent_vs_agent/moves.jsonl

@@ -0,0 +1,9 @@
+{"n": 1, "by": "agent-X", "mark": "X", "cell": 4, "cell_name": "center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 12.26, "sim_s": 0.0, "frames": null, "error": null, "vision_board": [" ", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": [" ", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 2, "by": "agent-O", "mark": "O", "cell": 0, "cell_name": "top-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0013, "cell_detected": "O", "agree": true, "wall_s": 11.62, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 3, "by": "agent-X", "mark": "X", "cell": 8, "cell_name": "bottom-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0007, "cell_detected": "X", "agree": true, "wall_s": 11.78, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", "X"], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", "X"]}
+{"n": 4, "by": "agent-O", "mark": "O", "cell": 2, "cell_name": "top-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0018, "cell_detected": "O", "agree": true, "wall_s": 11.35, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "O", " ", "X", " ", " ", " ", "X"], "board_after": ["O", " ", "O", " ", "X", " ", " ", " ", "X"]}
+{"n": 5, "by": "agent-X", "mark": "X", "cell": 1, "cell_name": "top-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0042, "cell_detected": "X", "agree": true, "wall_s": 11.25, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", " ", "X", " ", " ", " ", "X"], "board_after": ["O", "X", "O", " ", "X", " ", " ", " ", "X"]}
+{"n": 6, "by": "agent-O", "mark": "O", "cell": 7, "cell_name": "bottom-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0011, "cell_detected": "O", "agree": true, "wall_s": 11.79, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", " ", "X", " ", " ", "O", "X"], "board_after": ["O", "X", "O", " ", "X", " ", " ", "O", "X"]}
+{"n": 7, "by": "agent-X", "mark": "X", "cell": 3, "cell_name": "middle-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 11.54, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", " ", " ", "O", "X"], "board_after": ["O", "X", "O", "X", "X", " ", " ", "O", "X"]}
+{"n": 8, "by": "agent-O", "mark": "O", "cell": 5, "cell_name": "middle-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0015, "cell_detected": "O", "agree": true, "wall_s": 11.54, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", "O", " ", "O", "X"], "board_after": ["O", "X", "O", "X", "X", "O", " ", "O", "X"]}
+{"n": 9, "by": "agent-X", "mark": "X", "cell": 6, "cell_name": "bottom-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0006, "cell_detected": "X", "agree": true, "wall_s": 12.08, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", "O", "X", "O", "X"], "board_after": ["O", "X", "O", "X", "X", "O", "X", "O", "X"]}

games/g08_agent_vs_agent/transcript.md

@@ -0,0 +1,294 @@
+# g08_agent_vs_agent — agent playing X
+
+**user:** Let's play tic-tac-toe. You are X. Place your marks with the robot. You go first.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ 1 | 2 | 3
+---------
+ 4 | 5 | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "5"}`
+
+**tool result (success):**
+```
+The robot placed X in center (placement error 2.4 mm).
+ 1 | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+status: in progress
+```
+
+**assistant:** The robot put my X in the center, the strongest first move because it's part of the most possible winning lines.
+
+**user:** Your opponent (O) moved: the robot placed O in the top-left cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "9"}`
+
+**tool result (success):**
+```
+The robot placed X in bottom-right (placement error 0.7 mm).
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I put my X in the bottom-right corner, opposite O's corner, so I have two in a row and more ways to make winning lines next.
+
+**user:** Your opponent (O) moved: the robot placed O in the top-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | 2 | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "2"}`
+
+**tool result (success):**
+```
+The robot placed X in top-center (placement error 4.2 mm).
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I put my X in the top-center to stop O from winning across the top row, and now I threaten to win at bottom-center.
+
+**user:** Your opponent (O) moved: the robot placed O in the bottom-center cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "4"}`
+
+**tool result (success):**
+```
+The robot placed X in middle-left (placement error 2.4 mm).
+ O | X | O
+---------
+ X | X | 6
+---------
+ 7 | O | X
+status: in progress
+```
+
+**assistant:** I put my X in the middle-left, which blocks O's left column and threatens to win across the middle row at middle-right.
+
+**user:** Your opponent (O) moved: the robot placed O in the middle-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | X | O
+---------
+ X | X | O
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "7"}`
+
+**tool result (success):**
+```
+The robot placed X in bottom-left (placement error 0.6 mm).
+ O | X | O
+---------
+ X | X | O
+---------
+ X | O | X
+status: draw
+```
+
+**assistant:** The game is a draw: I put my last X in the bottom-left, the only empty cell, after O blocked my middle-row win.
+
+
+# g08_agent_vs_agent — agent playing O
+
+**user:** Let's play tic-tac-toe. You are O. Place your marks with the robot. Your opponent (X) went first: the robot placed X in the center cell.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ 1 | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "1"}`
+
+**tool result (success):**
+```
+The robot placed O in top-left (placement error 1.3 mm).
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+status: in progress
+```
+
+**assistant:** I put O in the top-left corner, since a corner is the strongest reply when X opens in the center.
+
+**user:** Your opponent (X) moved: the robot placed X in the bottom-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "3"}`
+
+**tool result (success):**
+```
+The robot placed O in top-right (placement error 1.8 mm).
+ O | 2 | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I put O in the top-right corner, so X has to block top-center or I'll win across the top row.
+
+**user:** Your opponent (X) moved: the robot placed X in the top-center cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "8"}`
+
+**tool result (success):**
+```
+The robot placed O in bottom-center (placement error 1.1 mm).
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | O | X
+status: in progress
+```
+
+**assistant:** I put O in bottom-center to stop X from winning down the middle column.
+
+**user:** Your opponent (X) moved: the robot placed X in the middle-left cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | X | O
+---------
+ X | X | 6
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "6"}`
+
+**tool result (success):**
+```
+The robot placed O in middle-right (placement error 1.5 mm).
+ O | X | O
+---------
+ X | X | O
+---------
+ 7 | O | X
+status: in progress
+```
+
+**assistant:** I put O in middle-right to block X's middle row, and the only cell left, bottom-left, can't give X a win, so this game ends in a draw.
+
+
+## Result: draw
+
+```
+ O | X | O
+---------
+ X | X | O
+---------
+ X | O | X
+```

games/g09_agent_vs_agent/game.json

@@ -0,0 +1,141 @@
+{
+ "result": {
+  "game": "g09_agent_vs_agent",
+  "mode": "agent_vs_agent",
+  "agent_mark": "XO",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "O",
+   "X",
+   "X",
+   "O",
+   "X",
+   "O",
+   "X"
+  ],
+  "n_moves": 9,
+  "placements_ok": 9,
+  "grasp_ok": 9,
+  "mean_err_mm": 1.78,
+  "max_err_mm": 4.2,
+  "vision_disagreements": 0,
+  "wall_s": 189.6,
+  "robot_s": 104.9,
+  "llm_s": 189.4,
+  "agent_turns_without_move": 0,
+  "complete": true
+ },
+ "llm_turns": [
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Let's play tic-tac-toe. You are X. Place your marks with the robot. You go first.",
+     "reply": "I took the center because it gives X the most ways to make three in a row.",
+     "llm_s": 20.4
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Let's play tic-tac-toe. You are O. Place your marks with the robot. Your opponent (X) went first: the robot placed X in the center cell.",
+     "reply": "I put O in the top-left corner, since a corner is the best reply when X opens in the center.",
+     "llm_s": 20.2
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the top-left cell. Your turn.",
+     "reply": "I put X in the bottom-right corner, opposite O's corner, to set up future threats while holding the center.",
+     "llm_s": 20.5
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the bottom-right cell. Your turn.",
+     "reply": "I took the top-right corner, so now I threaten to win at top-center and X has to block there.",
+     "llm_s": 22.6
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the top-right cell. Your turn.",
+     "reply": "I blocked O's top row at top-center, which also lines up X to win at bottom-center down the middle column.",
+     "llm_s": 21.1
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the top-center cell. Your turn.",
+     "reply": "I put O in bottom-center to block X's three-in-a-row down the middle column.",
+     "llm_s": 20.4
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the bottom-center cell. Your turn.",
+     "reply": "I played middle-left, which blocks O's left column and threatens to win at middle-right.",
+     "llm_s": 22.8
+    }
+   ]
+  },
+  {
+   "mark": "O",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (X) moved: the robot placed X in the middle-left cell. Your turn.",
+     "reply": "I put O in middle-right to block X's row across the middle, and the game is now heading for a draw.",
+     "llm_s": 21.4
+    }
+   ]
+  },
+  {
+   "mark": "X",
+   "placed": true,
+   "moves_added": 1,
+   "msgs": [
+    {
+     "prompt": "Your opponent (O) moved: the robot placed O in the middle-right cell. Your turn.",
+     "reply": "I filled the last open cell, bottom-left, and the game ends in a draw because O blocked every winning line.",
+     "llm_s": 20.0
+    }
+   ]
+  }
+ ]
+}

games/g09_agent_vs_agent/moves.jsonl

@@ -0,0 +1,9 @@
+{"n": 1, "by": "agent-X", "mark": "X", "cell": 4, "cell_name": "center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 12.03, "sim_s": 0.0, "frames": null, "error": null, "vision_board": [" ", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": [" ", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 2, "by": "agent-O", "mark": "O", "cell": 0, "cell_name": "top-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0013, "cell_detected": "O", "agree": true, "wall_s": 11.9, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", " "], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", " "]}
+{"n": 3, "by": "agent-X", "mark": "X", "cell": 8, "cell_name": "bottom-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0007, "cell_detected": "X", "agree": true, "wall_s": 11.63, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", " ", " ", "X", " ", " ", " ", "X"], "board_after": ["O", " ", " ", " ", "X", " ", " ", " ", "X"]}
+{"n": 4, "by": "agent-O", "mark": "O", "cell": 2, "cell_name": "top-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0018, "cell_detected": "O", "agree": true, "wall_s": 11.34, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", " ", "O", " ", "X", " ", " ", " ", "X"], "board_after": ["O", " ", "O", " ", "X", " ", " ", " ", "X"]}
+{"n": 5, "by": "agent-X", "mark": "X", "cell": 1, "cell_name": "top-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0042, "cell_detected": "X", "agree": true, "wall_s": 11.28, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", " ", "X", " ", " ", " ", "X"], "board_after": ["O", "X", "O", " ", "X", " ", " ", " ", "X"]}
+{"n": 6, "by": "agent-O", "mark": "O", "cell": 7, "cell_name": "bottom-center", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0011, "cell_detected": "O", "agree": true, "wall_s": 11.82, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", " ", "X", " ", " ", "O", "X"], "board_after": ["O", "X", "O", " ", "X", " ", " ", "O", "X"]}
+{"n": 7, "by": "agent-X", "mark": "X", "cell": 3, "cell_name": "middle-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0024, "cell_detected": "X", "agree": true, "wall_s": 11.24, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", " ", " ", "O", "X"], "board_after": ["O", "X", "O", "X", "X", " ", " ", "O", "X"]}
+{"n": 8, "by": "agent-O", "mark": "O", "cell": 5, "cell_name": "middle-right", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0015, "cell_detected": "O", "agree": true, "wall_s": 11.55, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", "O", " ", "O", "X"], "board_after": ["O", "X", "O", "X", "X", "O", " ", "O", "X"]}
+{"n": 9, "by": "agent-X", "mark": "X", "cell": 6, "cell_name": "bottom-left", "ok": true, "success": true, "grasp_ok": true, "attempts": 1, "place_err_m": 0.0006, "cell_detected": "X", "agree": true, "wall_s": 12.11, "sim_s": 0.0, "frames": null, "error": null, "vision_board": ["O", "X", "O", "X", "X", "O", "X", "O", "X"], "board_after": ["O", "X", "O", "X", "X", "O", "X", "O", "X"]}

games/g09_agent_vs_agent/transcript.md

@@ -0,0 +1,294 @@
+# g09_agent_vs_agent — agent playing X
+
+**user:** Let's play tic-tac-toe. You are X. Place your marks with the robot. You go first.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ 1 | 2 | 3
+---------
+ 4 | 5 | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "center"}`
+
+**tool result (success):**
+```
+The robot placed X in center (placement error 2.4 mm).
+ 1 | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+status: in progress
+```
+
+**assistant:** I took the center because it gives X the most ways to make three in a row.
+
+**user:** Your opponent (O) moved: the robot placed O in the top-left cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "9"}`
+
+**tool result (success):**
+```
+The robot placed X in bottom-right (placement error 0.7 mm).
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I put X in the bottom-right corner, opposite O's corner, to set up future threats while holding the center.
+
+**user:** Your opponent (O) moved: the robot placed O in the top-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | 2 | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "2"}`
+
+**tool result (success):**
+```
+The robot placed X in top-center (placement error 4.2 mm).
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I blocked O's top row at top-center, which also lines up X to win at bottom-center down the middle column.
+
+**user:** Your opponent (O) moved: the robot placed O in the bottom-center cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "4"}`
+
+**tool result (success):**
+```
+The robot placed X in middle-left (placement error 2.4 mm).
+ O | X | O
+---------
+ X | X | 6
+---------
+ 7 | O | X
+status: in progress
+```
+
+**assistant:** I played middle-left, which blocks O's left column and threatens to win at middle-right.
+
+**user:** Your opponent (O) moved: the robot placed O in the middle-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | X | O
+---------
+ X | X | O
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "7"}`
+
+**tool result (success):**
+```
+The robot placed X in bottom-left (placement error 0.6 mm).
+ O | X | O
+---------
+ X | X | O
+---------
+ X | O | X
+status: draw
+```
+
+**assistant:** I filled the last open cell, bottom-left, and the game ends in a draw because O blocked every winning line.
+
+
+# g09_agent_vs_agent — agent playing O
+
+**user:** Let's play tic-tac-toe. You are O. Place your marks with the robot. Your opponent (X) went first: the robot placed X in the center cell.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ 1 | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "1"}`
+
+**tool result (success):**
+```
+The robot placed O in top-left (placement error 1.3 mm).
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+status: in progress
+```
+
+**assistant:** I put O in the top-left corner, since a corner is the best reply when X opens in the center.
+
+**user:** Your opponent (X) moved: the robot placed X in the bottom-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "3"}`
+
+**tool result (success):**
+```
+The robot placed O in top-right (placement error 1.8 mm).
+ O | 2 | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I took the top-right corner, so now I threaten to win at top-center and X has to block there.
+
+**user:** Your opponent (X) moved: the robot placed X in the top-center cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "8"}`
+
+**tool result (success):**
+```
+The robot placed O in bottom-center (placement error 1.1 mm).
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | O | X
+status: in progress
+```
+
+**assistant:** I put O in bottom-center to block X's three-in-a-row down the middle column.
+
+**user:** Your opponent (X) moved: the robot placed X in the middle-left cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are O):
+ O | X | O
+---------
+ X | X | 6
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: O | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "6"}`
+
+**tool result (success):**
+```
+The robot placed O in middle-right (placement error 1.5 mm).
+ O | X | O
+---------
+ X | X | O
+---------
+ 7 | O | X
+status: in progress
+```
+
+**assistant:** I put O in middle-right to block X's row across the middle, and the game is now heading for a draw.
+
+
+## Result: draw
+
+```
+ O | X | O
+---------
+ X | X | O
+---------
+ X | O | X
+```

games/results.json

@@ -0,0 +1,332 @@
+[
+ {
+  "game": "g00_agent_vs_minimax",
+  "mode": "agent_vs_minimax",
+  "agent_mark": "X",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "O",
+   "X",
+   "X",
+   "O",
+   "X",
+   "O",
+   "X"
+  ],
+  "n_moves": 9,
+  "placements_ok": 9,
+  "grasp_ok": 9,
+  "mean_err_mm": 1.78,
+  "max_err_mm": 4.2,
+  "vision_disagreements": 1,
+  "wall_s": 162.9,
+  "robot_s": 104.8,
+  "llm_s": 108.6,
+  "agent_turns_without_move": 0,
+  "complete": true,
+  "video": {
+   "path": "runs/prod1/g00_agent_vs_minimax/game.mp4",
+   "frames": 1454
+  }
+ },
+ {
+  "game": "g01_agent_vs_minimax",
+  "mode": "agent_vs_minimax",
+  "agent_mark": "O",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "X",
+   "X",
+   "X",
+   "O",
+   "O",
+   "O",
+   "X"
+  ],
+  "n_moves": 9,
+  "placements_ok": 9,
+  "grasp_ok": 9,
+  "mean_err_mm": 1.76,
+  "max_err_mm": 3.5,
+  "vision_disagreements": 0,
+  "wall_s": 151.7,
+  "robot_s": 104.9,
+  "llm_s": 83.6,
+  "agent_turns_without_move": 0,
+  "complete": true,
+  "video": {
+   "path": "runs/prod1/g01_agent_vs_minimax/game.mp4",
+   "frames": 1451
+  }
+ },
+ {
+  "game": "g02_agent_vs_minimax",
+  "mode": "agent_vs_minimax",
+  "agent_mark": "X",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "O",
+   "X",
+   "X",
+   "O",
+   "X",
+   "O",
+   "X"
+  ],
+  "n_moves": 9,
+  "placements_ok": 9,
+  "grasp_ok": 9,
+  "mean_err_mm": 1.78,
+  "max_err_mm": 4.2,
+  "vision_disagreements": 0,
+  "wall_s": 157.9,
+  "robot_s": 104.3,
+  "llm_s": 104.6,
+  "agent_turns_without_move": 0,
+  "complete": true,
+  "video": {
+   "path": "runs/prod1/g02_agent_vs_minimax/game.mp4",
+   "frames": 1454
+  }
+ },
+ {
+  "game": "g03_agent_vs_minimax",
+  "mode": "agent_vs_minimax",
+  "agent_mark": "O",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "X",
+   "X",
+   "X",
+   "O",
+   "O",
+   "O",
+   "X"
+  ],
+  "n_moves": 9,
+  "placements_ok": 9,
+  "grasp_ok": 9,
+  "mean_err_mm": 1.76,
+  "max_err_mm": 3.5,
+  "vision_disagreements": 0,
+  "wall_s": 152.8,
+  "robot_s": 103.3,
+  "llm_s": 85.4,
+  "agent_turns_without_move": 0,
+  "complete": true,
+  "video": {
+   "path": "runs/prod1/g03_agent_vs_minimax/game.mp4",
+   "frames": 1451
+  }
+ },
+ {
+  "game": "g04_agent_vs_minimax",
+  "mode": "agent_vs_minimax",
+  "agent_mark": "X",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "O",
+   "X",
+   "X",
+   "O",
+   "X",
+   "O",
+   "X"
+  ],
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+  "agent_turns_without_move": 0,
+  "complete": true,
+  "video": {
+   "path": "runs/prod1/g04_agent_vs_minimax/game.mp4",
+   "frames": 1454
+  }
+ },
+ {
+  "game": "g05_agent_vs_minimax",
+  "mode": "agent_vs_minimax",
+  "agent_mark": "O",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "O",
+   "X",
+   "X",
+   "X",
+   "O",
+   "O",
+   "X",
+   "X"
+  ],
+  "n_moves": 9,
+  "placements_ok": 9,
+  "grasp_ok": 9,
+  "mean_err_mm": 1.82,
+  "max_err_mm": 3.5,
+  "vision_disagreements": 0,
+  "wall_s": 152.6,
+  "robot_s": 105.5,
+  "llm_s": 82.8,
+  "agent_turns_without_move": 0,
+  "complete": true,
+  "video": {
+   "path": "runs/prod1/g05_agent_vs_minimax/game.mp4",
+   "frames": 1451
+  }
+ },
+ {
+  "game": "g06_agent_vs_agent",
+  "mode": "agent_vs_agent",
+  "agent_mark": "XO",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "O",
+   "X",
+   "X",
+   "O",
+   "X",
+   "O",
+   "X"
+  ],
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+  "mean_err_mm": 1.78,
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+  "vision_disagreements": 0,
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+  "robot_s": 104.3,
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+  "complete": true,
+  "video": {
+   "path": "runs/prod1/g06_agent_vs_agent/game.mp4",
+   "frames": 1454
+  }
+ },
+ {
+  "game": "g07_agent_vs_agent",
+  "mode": "agent_vs_agent",
+  "agent_mark": "XO",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "O",
+   "X",
+   "X",
+   "O",
+   "X",
+   "O",
+   "X"
+  ],
+  "n_moves": 9,
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+  "max_err_mm": 4.2,
+  "vision_disagreements": 0,
+  "wall_s": 190.3,
+  "robot_s": 105.1,
+  "llm_s": 190.1,
+  "agent_turns_without_move": 0,
+  "complete": true,
+  "video": {
+   "path": "runs/prod1/g07_agent_vs_agent/game.mp4",
+   "frames": 1454
+  }
+ },
+ {
+  "game": "g08_agent_vs_agent",
+  "mode": "agent_vs_agent",
+  "agent_mark": "XO",
+  "result": "draw",
+  "winner": null,
+  "final_board": [
+   "O",
+   "X",
+   "O",
+   "X",
+   "X",
+   "O",
+   "X",
+   "O",
+   "X"
+  ],
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+  "vision_disagreements": 0,
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+  "complete": true,
+  "video": {
+   "path": "runs/prod1/g08_agent_vs_agent/game.mp4",
+   "frames": 1454
+  }
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+  "mode": "agent_vs_agent",
+  "agent_mark": "XO",
+  "result": "draw",
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+   "X",
+   "O",
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+  "complete": true,
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+   "frames": 1454
+  }
+ }
+]

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+        ],
+        "q10": [
+            [
+                [
+                    0.7842943569838959
+                ]
+            ],
+            [
+                [
+                    0.7809291278787243
+                ]
+            ],
+            [
+                [
+                    0.7332532283772982
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.835364247375806
+                ]
+            ],
+            [
+                [
+                    0.8232143855548578
+                ]
+            ],
+            [
+                [
+                    0.7960732545146082
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.8667641851270533
+                ]
+            ],
+            [
+                [
+                    0.835362421740899
+                ]
+            ],
+            [
+                [
+                    0.835347659719362
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.9177842804391507
+                ]
+            ],
+            [
+                [
+                    0.9161887414913586
+                ]
+            ],
+            [
+                [
+                    0.913239003327669
+                ]
+            ]
+        ]
+    }
+}

meta/tasks.parquet

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+oid sha256:533b11c593d7c6b78bd7f7a237c84304c71d861df70bc359ad17ab23a08925fe
+size 2360

playback.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:eb12bf2b8ba0db83b84fd93466a16794236dbeba7f1c04eaaf57033511f2c160
+size 3702055

transcript.md

@@ -0,0 +1,167 @@
+# g00_agent_vs_minimax — agent playing X
+
+**user:** Let's play tic-tac-toe. You are X. Place your marks with the robot. You go first.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ 1 | 2 | 3
+---------
+ 4 | 5 | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: False (camera sees .......O.)
+```
+
+**assistant → tool `place_mark`** `{"cell": "center"}`
+
+**tool result (success):**
+```
+The robot placed X in center (placement error 2.4 mm).
+ 1 | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+status: in progress
+```
+
+**assistant:** I placed my X in the center because it's part of the most winning lines. One thing to flag: before my move, the overhead camera showed an O on the bottom-center square, but the simulator showed an empty board. I went with the simulator's view, so you might want to check the table before the opponent moves.
+
+**user:** Your opponent (O) moved: the robot placed O in the top-left cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | 9
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "9"}`
+
+**tool result (success):**
+```
+The robot placed X in bottom-right (placement error 0.7 mm).
+ O | 2 | 3
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I took the bottom-right corner to hold the diagonal and set up chances to force a win later; the camera and simulator now agree on the board.
+
+**user:** Your opponent (O) moved: the robot placed O in the top-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | 2 | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "2"}`
+
+**tool result (success):**
+```
+The robot placed X in top-center (placement error 4.2 mm).
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | 8 | X
+status: in progress
+```
+
+**assistant:** I blocked O's top row at top-center, which also sets up a win for me at bottom-center next turn.
+
+**user:** Your opponent (O) moved: the robot placed O in the bottom-center cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | X | O
+---------
+ 4 | X | 6
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "4"}`
+
+**tool result (success):**
+```
+The robot placed X in middle-left (placement error 2.4 mm).
+ O | X | O
+---------
+ X | X | 6
+---------
+ 7 | O | X
+status: in progress
+```
+
+**assistant:** I played middle-left, which threatens to win at middle-right and stops O from using the left column, though O can still block so it will probably end in a draw.
+
+**user:** Your opponent (O) moved: the robot placed O in the middle-right cell. Your turn.
+
+**assistant → tool `get_board`** `{}`
+
+**tool result (success):**
+```
+Board (you are X):
+ O | X | O
+---------
+ X | X | O
+---------
+ 7 | O | X
+cells: 1=top-left, 2=top-center, 3=top-right, 4=middle-left, 5=center, 6=middle-right, 7=bottom-left, 8=bottom-center, 9=bottom-right
+to move: X | status: in progress | camera agrees with sim: True
+```
+
+**assistant → tool `place_mark`** `{"cell": "7"}`
+
+**tool result (success):**
+```
+The robot placed X in bottom-left (placement error 0.6 mm).
+ O | X | O
+---------
+ X | X | O
+---------
+ X | O | X
+status: draw
+```
+
+**assistant:** The game is a draw: I filled the last open square, bottom-left, and neither side has three in a row.
+
+
+## Result: draw
+
+```
+ O | X | O
+---------
+ X | X | O
+---------
+ X | O | X
+```