# t005__ep042__push_pineapple

- **suite / variant:** `` / ``
- **instruction:** Push the pineapple off the stove
- **success:** False
- **control steps:** 446  (8.8s at 51 Hz)
- **policy inferences:** 76  (replan_steps=6)
- **video:** `push_pineapple/ep042/rollout.mp4`
- **features:** `76` 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 | grasping top of pineapple |
| 6.0–8.8 | 304–445 | 50–74 | holding position above stove |

## Failure

- **yes**
- **onset type:** operator_intervention
- **onset:** 3.4645669291338583 s (00:03.5)
- **frame / control_step:** 176 (policy_step=29, chunk_index=2)
- **coarse onset:** 3.8 s (refined=True)
- **mode:** stuck_or_no_progress
- **reason:** The robot descended onto the pineapple on the stove burner but failed to execute a horizontal pushing motion, remaining stationary over the object for the rest of the rollout.
  Summary: robot stuck on pineapple; no horizontal pushing motion
- **recovery:** Raise the gripper slightly and execute a forward/lateral push to slide the pineapple off the stove surface.
  Summary: lift end effector; push pineapple off stove
- **prevention:** Maintain an appropriate offset height and execute a smooth horizontal sweeping trajectory across the stove burner to push the pineapple off.
  Summary: approach from side; sweep horizontally across burner
- **justification:** At around 3.8 seconds, the robot arm contacts the top of the pineapple on the stove, but stops advancing and fails to perform the required pushing trajectory, remaining motionless over the object until time runs out.