# t005__ep036__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 355  (7.0s at 51 Hz)
- **policy inferences:** 62  (replan_steps=6)
- **video:** `push_pineapple/ep036/rollout.mp4`
- **features:** `62` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–151 | 0–25 | descending toward the stove |
| 3.0–6.0 | 152–303 | 25–50 | lowering and pushing pineapple |
| 6.0–7.0 | 304–354 | 50–59 | holding near the stove |

## Failure

- **yes**
- **onset type:** obvious_mistake
- **onset:** 2.066929133858268 s (00:02.1)
- **frame / control_step:** 105 (policy_step=17, chunk_index=3)
- **coarse onset:** 5.0 s (refined=True)
- **mode:** object_displacement
- **reason:** The robot made improper contact with the pineapple and stove unit, moving the stove tray itself rather than pushing the pineapple off of it.
  Summary: improper contact; dragging stove tray instead of pineapple
- **recovery:** Reposition the stove tray back onto the table, place the end effector on the side of the pineapple, and push the pineapple sideways off the stove surface.
  Summary: reposition stove tray; push pineapple off stove
- **prevention:** Approach the pineapple directly from the side with the gripper positioned to apply horizontal force strictly to the pineapple, avoiding catching or displacing the stove tray.
  Summary: apply horizontal push to pineapple; avoid catching stove tray
- **justification:** At approximately 5.0 seconds into the video, the robot end effector makes contact near the top of the pineapple and the stove tray, dragging the entire stove tray across the table instead of sliding the pineapple off the stove top.