-3.0 2.0 1.0                       # coordinates of p
2.0 -1.0 3.0                       # coordinates of q
2.0 1.0 3.0 4.0                    # center and radius of sphereA
-1.0 -2.0 -3.0 5.0                 # center and radius of sphereB
2.0 1.0 -3.0 4.0                   # center and side of cubeA
3.0 2.0 -4.0 3.0                   # center and side of cubeB
-2.0 1.0 -3.0 5.0 4.0              # center, radius, and height of cylA
1.0 5.0 3.0 4.0 2.0                # center, radius, and height of cylB
