code: def touch_object(self, objects: Set[Object]) -> Set[Object]:
          
          objects_per_box = self._separate_objects_by_boxes(objects)
          return_set = set()
          for box, box_objects in objects_per_box.items():
              candidate_objects = box.objects
              for object_ in box_objects:
                  for candidate_object in candidate_objects:
                      if self._objects_touch_each_other(object_, candidate_object):
                          return_set.add(candidate_object)
          return return_set
docs: Returns all objects that touch the given set of objects.