workspace/outputs/mesatask_3d_audit/method_summary.csv

method,collision_pairs_exact,collision_pairs_pybullet,oc_percent_exact,oc_percent_pybullet,mean_penetration_cm,float_count,support_penetration_count,table_violation_count,task_alignment_rule
ablation_no_obj_obj_sdf,2.25,2.25,24.047619047619047,24.047619047619047,2.2916698753820848,0.0,0.0,0.0,90.25
ablation_no_obj_table_sdf,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.5,90.25
ablation_no_support_contact,0.0,0.0,0.0,0.0,0.0,2.125,2.25,0.0,93.24999999999999
physics_corrector_full,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,94.78571428571428
posthoc_local_repulsion,1.5,1.5,10.648148148148147,10.648148148148147,0.9557737138534254,0.8333333333333334,0.25,0.5833333333333334,91.03571428571428
raw_official_prompt,3.4166666666666665,3.4166666666666665,28.796296296296294,28.796296296296294,2.5827922077915537,0.8333333333333334,0.25,0.0,89.53571428571428