## 2 Materials and Methods
### Designing the Test Artifact
\begin{table}
\begin{tabular}{c c c c c c c c c} \hline \hline \multirow{2}{*}{**Group**} & \multirow{2}{*}{**Description**} & \multirow{2}{*}{
\begin{tabular}{c} **Diameter** \\ **(mm)** \\ \end{tabular} } & \multicolumn{4}{c}{**Position * (mm)**} & \multicolumn{4}{c}{**Normal Vector**} \\ \cline{3-8}  & & **x** & **y** & **z** & **x** & **y** & **z** \\ \hline \multirow{8}{*}{**HX1**} & First plane & \(N/A\) & \(0.00\) & \(-13.86\) & \(8\) & \(0\) & \(-1\) & \(0\) \\ \cline{2-8}  & Second plane & \(N/A\) & \(12.00\) & \(-6.93\) & \(8\) & \(\text{cos}(30^{\circ})\) & \(-0.5\) & \(0\) \\ \cline{2-8}  & Third plane & \(N/A\) & \(12.00\) & \(6.93\) & \(8\) & \(\text{cos}(30^{\circ})\) & \(0.5\) & \(0\) \\ \cline{2-8}  & Fourth plane & \(N/A\) & \(0.00\) & \(13.86\) & \(8\) & \(0\) & \(1\) & \(0\) \\ \cline{2-8}  & Fifth plane & \(N/A\) & \(-12.00\) & \(6.93\) & \(8\) & \(-\text{cos}(30^{\circ})\) & \(0.5\) & \(0\) \\ \cline{2-8}  & Sixth plane & \(N/A\) & \(-12.00\) & \(-6.93\) & \(8\) & \(-\text{cos}(30^{\circ})\) & \(-0.5\) & \(0\) \\ \hline \multirow{8}{*}{**HX2**} & First plane & \(N/A\) & \(-18.43\) & \(13.43\) & \(8\) & \(0.5\) & \(-\text{cos}(30^{\circ})\) & \(0\) \\ \cline{2-8}  & Second plane & \(N/A\) & \(-11.50\) & \(25.43\) & \(8\) & \(1\) & \(0\) & \(0\) \\ \cline{2-8}  & Third plane & \(N/A\) & \(-18.43\) & \(37.43\) & \(8\) & \(0.5\) & \(\text{cos}(30^{\circ})\) & \(0\) \\ \cline{2-8}  & Fourth plane & \(N/A\) & \(-32.28\) & \(37.43\) & \(8\) & \(-0.5\) & \(\text{cos}(30^{\circ})\) & \(0\) \\ \cline{2-8}  & Fifth plane & \(N/A\) & \(-39.21\) & \(25.43\) & \(8\) & \(-1\) & \(0\) & \(0\) \\ \cline{2-8}  & Sixth plane & \(N/A\) & \(-32.28\) & \(13.43\) & \(8\) & \(-0.5\) & \(-\text{cos}(30^{\circ})\) & \(0\) \\ \hline \multirow{8}{*}{**CC1**} & Largest cylinder & \(24\) & \(0\) & \(0\) & \(8\) & \(0\) & \(0\) & \(1\) \\ \cline{2-8}  & Second largest cylinder & \(16\) & \(0\) & \(0\) & \(0\) & \(0\) & \(0\) & \(1\) \\ \cline{2-8}  & Third largest cylinder & \(8\) & \(0\) & \(0\) & \(0\) & \(0\) & \(0\) & \(1\) \\ \cline{2-8}  & Smallest cylinder & \(4\) & \(0\) & \(0\) & \(8\) & \(0\) & \(0\) & \(1\) \\ \hline \multirow{8}{*}{**CC2**} & Largest cylinder & \(24\) & \(-24.49\) & \(18\) & \(0\) & \(0\) & \(0\) & \(1\) \\ \cline{2-8}  & Second largest cylinder & \(16\) & \(-24.49\) & \(18\) & \(8\) & \(0\) & \(0\) & \(1\) \\ \cline{2-8}  & Third largest cylinder & \(8\) & \(-24.49\) & \(18\) & \(8\) & \(0\) & \(0\) & \(1\) \\ \cline{2-8}  & Smallest cylinder & \(4\) & \(-24.49\) & \(18\) & \(0\) & \(0\) & \(0\) & \(1\) \\ \cline{2-8}  & Convex cone & \(24\) & \(21.36\) & \(-24.38\) & \(0\) & \(0\) & \(0\) & \(1\) \\ \cline{2-8}  & Concave cone & \(12\) & \(21.36\) & \(-24.38\) & \(16\) & \(0\) & \(0\) & \(-1\) \\ \hline
**TC2** & Concave cone & \(24\) & \(-9.34\) & \(-34.67\) & \(16\) & \(0\) & \(0\) & \(-1\) \\ \hline
**TC3** & Convex cone & \(12\) & \(-2.53\) & \(24.86\) & \(0\) & \(0\) & \(0\) & \(1\) \\ \hline \multirow{2}{*}{**SP**} & Convex sphere & \(24\) & \(-30.84\) & \(-10.3\) & \(0\) & \(0\) & \(0\) & \(0\) \\ \cline{2-8}  & Concave sphere & \(24\) & \(-24.34\) & \(-21.56\) & \(13\) & \(0\) & \(0\) & \(0\) \\ \hline \hline \end{tabular}  
* the positions of all elements are based on a local origin defined as the center of CC1 for the xy-plane and the top of the base plate in the z-direction. The position of a plane is defined by its center point.  
\end{table} 
Table 2: Details on all shape features of the designed artifact. Figure 2: The test artifact designed for the experiment. (**a**) The computer-aided design (CAD) model with labeled features in perspective; (**b**) top view of the CAD model showing the numbering of planes in HX1 and HX2.