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VP
VP VP
VP
HP HP HP
HP
VP
Cuboid
HP
Situation 2: Different Object touching horizontal plane
VP
VP
VP VP
HP HP HP
HP
VP
Cuboid
HP
Situation 3: Different Object touching vertical plane
VP
VP VP
VP
HP HP HP HP
Cuboid VP
HP
Situation 4: Different Object far away from vertical plane and
horizontal plane
VP
VP VP
VP
HP HP
HP HP
VP
Cuboid
HP