tray_motion_trajectory (x, y, z) = [(0.0, 0.0, 0.1), (-0.7, -0.7, 0.1), (-1.1, -1.2, 0.1), (-1.5, -1.5, 0.1), (-1.8, -1.8, 0.1), (-2.0, -1.9, 0.1), (-2.2, -2.1, 0.1), (-2.3, -2.2, 0.1), (-2.4, -2.3, 0.1)]

bottle_motion_trajectory (x, y, z) = [(-1.1, -1.1, 1.1), (-1.2, -1.2, 1.1), (-1.4, -1.3, 1.1), (-1.5, -1.5, 1.0), (-1.6, -1.6, 0.8), (-1.7, -1.8, 0.6), (-1.7, -1.9, 0.5), (-1.8, -2.1, 0.5), (-2.0, -2.2, 0.5)]

martini_glass_motion_trajectory (x, y, z) = [(-1.0, 0.0, 0.5), (-1.1, -0.0, 0.6), (-1.2, -0.1, 0.5), (-1.3, -0.2, 0.5), (-1.5, -0.4, 0.5), (-1.7, -0.5, 0.5), (-1.9, -0.7, 0.5), (-2.0, -0.8, 0.5), (-2.1, -0.9, 0.5)]

wine_glass_motion_trajectory (x, y, z) = [(-1.0, 1.0, 0.9), (-1.1, 0.9, 1.0), (-1.1, 0.8, 0.9), (-1.2, 0.8, 0.8), (-1.3, 0.7, 0.8), (-1.4, 0.7, 0.8), (-1.4, 0.6, 0.8), (-1.4, 0.6, 0.8), (-1.4, 0.6, 0.8)]

