workspace/outputs/scaled_independent_3d_repro/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,2.625,2.625,17.658730158730158,17.658730158730158,1.1010006602440063,0.0,0.0,0.0,96.4375
ablation_no_obj_table_sdf,0.0,0.0,0.0,0.0,0.0,0.0,0.0,1.6666666666666667,96.15625
ablation_no_support_contact,0.0,0.0,0.0,0.0,0.0,2.0208333333333335,2.25,0.0,98.49999999999999
physics_corrector_full,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,99.99999999999999
posthoc_local_repulsion,0.3055555555555556,0.3055555555555556,2.123015873015873,2.123015873015873,0.19727014556680483,0.0,0.0,0.4583333333333333,97.99999999999999
raw_official_prompt,3.8333333333333335,3.8333333333333335,25.357142857142858,25.357142857142858,1.3905199832823243,0.0,0.0,0.1388888888888889,95.9375