tray_motion_trajectory (x, y, z) = [(-0.0, -0.0, 0.1), (-0.8, -0.8, 0.1), (-1.3, -1.3, 0.1), (-1.7, -1.6, 0.1), (-1.9, -1.9, 0.1), (-2.0, -2.3, 0.1), (-2.1, -2.5, 0.1), (-2.3, -2.8, 0.1), (-2.3, -3.0, 0.1)]

bottle_motion_trajectory (x, y, z) = [(-0.0, 1.1, 1.1), (-0.0, 1.0, 1.1), (-0.1, 1.1, 1.0), (-0.1, 1.1, 1.0), (-0.2, 1.0, 1.0), (-0.2, 0.9, 1.0), (-0.2, 0.8, 1.0), (-0.1, 0.7, 1.0), (-0.1, 0.7, 1.0)]

martini_glass_motion_trajectory (x, y, z) = [(-1.1, -1.1, 0.5), (-1.3, -1.4, 0.6), (-1.5, -1.7, 0.6), (-1.7, -2.0, 0.5), (-1.9, -2.2, 0.4), (-2.2, -2.5, 0.4), (-2.3, -2.7, 0.4), (-2.4, -3.0, 0.4), (-2.5, -3.1, 0.4)]

bottle_motion_trajectory (x, y, z) = [(1.1, 1.1, 1.1), (1.0, 1.0, 1.2), (1.0, 1.0, 1.0), (1.0, 1.0, 1.0), (1.1, 1.1, 1.0), (1.1, 1.2, 1.0), (1.2, 1.2, 1.0), (1.1, 1.1, 1.0), (1.1, 1.1, 1.0)]

martini_glass_motion_trajectory (x, y, z) = [(1.1, 0.0, 0.5), (1.0, -0.1, 0.5), (1.0, -0.1, 0.5), (0.9, -0.1, 0.5), (0.9, -0.1, 0.4), (0.8, -0.1, 0.4), (0.8, -0.2, 0.5), (0.8, -0.1, 0.4), (0.9, -0.1, 0.4)]

martini_glass_motion_trajectory (x, y, z) = [(-1.0, 0.0, 0.5), (-1.1, -0.1, 0.6), (-1.2, -0.2, 0.6), (-1.4, -0.4, 0.5), (-1.6, -0.5, 0.5), (-1.8, -0.6, 0.4), (-2.1, -0.6, 0.4), (-2.2, -0.5, 0.3), (-2.3, -0.4, 0.3)]

martini_glass_motion_trajectory (x, y, z) = [(0.0, 0.0, 0.5), (-0.1, -0.1, 0.6), (-0.2, -0.2, 0.6), (-0.4, -0.4, 0.5), (-0.5, -0.5, 0.4), (-0.7, -0.7, 0.4), (-0.8, -0.9, 0.4), (-0.9, -1.1, 0.4), (-1.1, -1.2, 0.4)]

