# t005__ep026__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 246  (4.9s at 50 Hz)
- **policy inferences:** 43  (replan_steps=6)
- **video:** `push_pineapple/ep026/rollout.mp4`
- **features:** `43` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–150 | 0–25 | lowering gripper to push pineapple |
| 3.0–4.9 | 151–245 | 25–40 | stuck against pineapple stem |

## Failure

- **yes**
- **onset type:** obvious_mistake
- **onset:** 2.3505976095617527 s (00:02.4)
- **frame / control_step:** 118 (policy_step=19, chunk_index=4)
- **coarse onset:** 2.8 s (refined=True)
- **mode:** stuck_or_no_progress
- **reason:** The robot lowered its end-effector onto the pineapple's stem leaves and the edge of the stove plate, getting stuck without pushing the pineapple off the stove.
  Summary: end-effector stuck on stove edge; failing to push pineapple
- **recovery:** Lift the end-effector above the stove, reposition behind the main body of the pineapple, and push it forward off the stove plate.
  Summary: reposition behind pineapple; push pineapple off stove
- **prevention:** Approach the pineapple by aligning behind its central body rather than pressing down on its stem and the tray edge.
  Summary: align behind pineapple body; push off stove
- **justification:** Around 2.8 seconds into the video, the robot descends directly into the stem of the pineapple and the right edge of the stove plate. It makes contact at an ineffective angle and becomes stuck, making no progress toward pushing the pineapple off the stove for the remainder of the episode.