#include<bits/stdc++.h>

using namespace std;

#define ll long long

const int MAXN=+,inf=0x3f3f3f3f;

int T,n,h,p[MAXN],d[MAXN],to[MAXN*MAXN*],nex[MAXN*MAXN*],beg[MAXN],w[MAXN*MAXN*],e,s,t;

ll r;

struct node{

    int x,y,z;

};

node hole[MAXN];

inline void read(int &x)

{

    int data=,w=;

    char ch=;

    while(ch!='-'&&(ch<''||ch>''))ch=getchar();

    if(ch=='-')w=-,ch=getchar();

    while(ch>=''&&ch<='')data=(data<<)+(data<<)+(ch^''),ch=getchar();

    x=data*w;

}

inline bool connect(int i,int j)

{

    if(4ll*r*r-(ll)(hole[i].x-hole[j].x)*(ll)(hole[i].x-hole[j].x)>=(ll)(hole[i].y-hole[j].y)*(ll)(hole[i].y-hole[j].y)+(ll)(hole[i].z-hole[j].z)*(ll)(hole[i].z-hole[j].z))return true;

    else return false;

}

inline void insert(int x,int y,int z)

{

    to[++e]=y;

    nex[e]=beg[x];

    beg[x]=e;

    w[e]=z;

}

inline void Build()

{

    for(register int i=;i<=n;++i)

        for(register int j=i+;j<=n;++j)

            if(connect(i,j))insert(i,j,),insert(j,i,);

    for(register int i=;i<=n;++i)

        if(hole[i].z-r<=)insert(s,i,);

    for(register int i=;i<=n;++i)

        if(hole[i].z+r>=h)insert(i,t,);

}

inline void SPFA()

{

    for(register int i=;i<=t;++i)d[i]=inf;

    queue<int> q;

    q.push(s);

    p[s]=;

    d[s]=;

    while(!q.empty())

    {

        int x=q.front();

        q.pop();

        p[x]=;

        for(register int i=beg[x];i;i=nex[i])

            if(d[to[i]]>d[x]+w[i])

            {

                d[to[i]]=d[x]+w[i];

                if(!p[to[i]])

                {

                    p[to[i]]=;

                    q.push(to[i]);

                }

            }

    }

}

inline void init()

{

    e=;

    memset(beg,,sizeof(beg));

    memset(p,,sizeof(p));

}

int main()

{

    freopen("cheese.in","r",stdin);

    freopen("cheese.out","w",stdout);

    read(T);

    while(T--)

    {

        init();

        read(n);read(h);scanf("%lld",&r);

        s=n+,t=n+;

        for(register int i=;i<=n;++i)read(hole[i].x),read(hole[i].y),read(hole[i].z);

        Build();

        SPFA();

        if(d[t]<inf)printf("Yes\n");

        else printf("No\n");

    }

    return ;

}