# t005__ep041__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 352  (6.9s at 51 Hz)
- **policy inferences:** 61  (replan_steps=6)
- **video:** `push_pineapple/ep041/rollout.mp4`
- **features:** `61` prefix tensors (`prefix`; model=``)

## Semantic timeline

| seconds | control_step | policy_step | phrase |
|---|---|---|---|
| 0.0–3.0 | 0–151 | 0–25 | lowering gripper toward pineapple |
| 3.0–6.0 | 152–303 | 25–50 | wiggling gripper over pineapple |
| 6.0–6.9 | 304–351 | 50–58 | idle over pineapple |

## Failure

- **yes**
- **onset type:** operator_intervention
- **onset:** 3.1692913385826773 s (00:03.2)
- **frame / control_step:** 161 (policy_step=26, chunk_index=5)
- **coarse onset:** 3.5 s (refined=True)
- **mode:** stuck_or_no_progress
- **reason:** The robot reached the pineapple on the stove tray but became stuck hovering and wiggling over it without applying effective horizontal force to push it off.
  Summary: stuck above object; failing to push horizontally
- **recovery:** Reposition the gripper to the side of the pineapple and apply a direct horizontal push until the pineapple slides completely off the stove tray.
  Summary: reposition gripper; push pineapple off stove
- **prevention:** Approach the pineapple from a side trajectory rather than pressing straight down, ensuring clear horizontal contact to sweep it off the stove.
  Summary: approach from side; sweep pineapple off stove
- **justification:** Around 3.5 seconds into the rollout, the gripper reaches the pineapple on the stove tray but ceases forward progress, remaining stuck hovering and oscillating in place without pushing the item off the stove.