y0              x0            rotz0
I0=I4   85.1691971     7.7500048       4.1046371
I1=I3   8.6290026      62.6448135      9.3208437
I2=I2   50.8283043     50.4153519      4.8072972
I3=I1   67.3050308     45.4776001     -3.6425583