#include<bits/stdc++.h>
using namespace std;
const int N=1010;
int t,n,h;
int s[N];
long long r,x[N],y[N],z[N];
int find(int x){
	if(s[x]!=x) s[x]=find(s[x]);
	return s[x];
}
int main(){
	scanf("%d",&t);
	while(t--){
		scanf("%d%d%lld",&n,&h,&r);
		for(int i=1;i<=n+1;i++) s[i]=i;
		for(int i=1;i<=n;i++) scanf("%lld%lld%lld",&x[i],&y[i],&z[i]);
		for(int i=1;i<=n;i++) if(z[i]+r>=h) s[i]=s[n+1];
		for(int i=1;i<n;i++){
			for(int j=i+1;j<=n;j++){
				if((x[i]-x[j])*(x[i]-x[j])+(y[i]-y[j])*(y[i]-y[j])+(z[i]-z[j])*(z[i]-z[j])<=4*r*r){
					int xx=find(i),yy=find(j);
					if(xx!=yy) s[xx]=yy;
				}
			}
		}
		for(int i=1;i<=n+1;i++) cout<<s[i]<<endl;
		bool flag=false;
		for(int i=1;i<=n;i++){
			if(z[i]-r<=0&&find(i)==find(n+1)){//为什么这个地方不能写成z[i]-r<=0&&s[i]==s[n+1]
				printf("Yes\n");
				flag=true;
				break;
			}
		}
		if(!flag) printf("No\n");
	}
	return 0;
}