function my_gform_after_submission( $entry, $form ) {

    add_filter( 'wpf_crm_object_type', function() {
        return 'MyObjectType';
    } );

    // Gets the first name and last name from field ID 3, and email from field ID 4
    $contact_data = array(
        'FirstName' => rgar( $entry, '3.3' ),
        'LastName'  => rgar( $entry, '3.6' ),
        'Email'     => rgar( $entry, '4' )
    );

    $object_id_one = wp_fusion()->crm->add_contact( $contact_data, false );

    // Gets the first name and last name from field ID 5, and email from field ID 6
    $contact_data = array(
        'FirstName' => rgar( $entry, '5.3' ),
        'LastName'  => rgar( $entry, '5.6' ),
        'Email'     => rgar( $entry, '6' )
    );

    $object_id_two = wp_fusion()->crm->add_contact( $contact_data, false );

}
// Replace "1" with the ID of the form
add_action( 'gform_after_submission_1', 'my_gform_after_submission', 10, 2 );