# t005__ep030__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 277  (5.5s at 50 Hz)
- **policy inferences:** 48  (replan_steps=6)
- **video:** `push_pineapple/ep030/rollout.mp4`
- **features:** `48` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–151 | 0–25 | moving gripper toward pineapple |
| 3.0–5.5 | 152–276 | 25–46 | holding position over pineapple |

## Failure

- **yes**
- **onset type:** operator_intervention
- **onset:** 2.9702970297029703 s (00:03.0)
- **frame / control_step:** 150 (policy_step=25, chunk_index=0)
- **coarse onset:** 3.5 s (refined=True)
- **mode:** stuck_or_no_progress
- **reason:** The robot arm lowered its gripper onto the pineapple on the stove but failed to execute a forward pushing motion, becoming stuck in place over the stove tray.
  Summary: stuck at target; failed to push pineapple off stove
- **recovery:** Lift and reposition the gripper behind the pineapple, then execute a horizontal forward sweep to push the pineapple off the stove tray.
  Summary: reposition gripper; push pineapple off stove
- **prevention:** Approach the pineapple from the side or back at stove height and push across the surface rather than stopping upon contact.
  Summary: align trajectory; push pineapple off stove
- **justification:** By around 3.5 seconds, the robot's end-effector reaches the pineapple on the stove plate but freezes/halts instead of sweeping forward to push the pineapple off, failing to make any further progress.