How to make ground plane to be drawn at the last

I want to make the ground plane to be always drawn at the last; meaning anything that will penetrate the ground plane will be shown to the user.

Here is quick example.
The sprite character is standing on the ground plane with its foot level. However, because its arm is too long, arm is penetrating the ground plane and it cannot be seen. I want all of the arm is shown even if it is penetrating ground plane.

I have create one Post Process material to use custom depth, but as you can see from below picture, I cannot make the texture color to be shown.


Would it be possible if the sprite is hidden by the ground plane, ignore ground plane and show the full sprite?

One side note, I cannot use Disable Depth Test since I still want other object to block its view. I only want the sprite to shown if it is hidden by the ground plane.