# t005__ep037__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 291  (5.7s at 51 Hz)
- **policy inferences:** 50  (replan_steps=6)
- **video:** `push_pineapple/ep037/rollout.mp4`
- **features:** `50` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–151 | 0–25 | reaching toward pineapple on stove |
| 3.0–5.7 | 152–290 | 25–48 | contacting and pushing pineapple |

## Failure

- **yes**
- **onset type:** timeout
- **onset:** 5.708661417322835 s (00:05.7)
- **frame / control_step:** 290 (policy_step=48, chunk_index=2)
- **coarse onset:** 5.71 s (refined=False)
- **mode:** timeout_or_insufficient_progress
- **reason:** The robot moved purposefully toward the pineapple and prepared to push it, but ran out of time before completing the pushing motion to knock it off the stove.
  Summary: insufficient time; incomplete push motion
- **recovery:** Continue extending the end-effector forward against the pineapple until it drops off the stove surface.
  Summary: push pineapple off stove; complete task
- **prevention:** Execute the approach and pushing trajectory faster and more directly to push the pineapple off the stove before the episode time limit.
  Summary: move faster; push pineapple off stove
- **justification:** The robot executes a direct approach to the pineapple on the stove and makes contact to begin pushing, but the 5.71-second time limit expires before the pineapple is pushed off. No mistakes or collisions occurred.