y0              x0             rotz0
I0 =I4     73.4744797       27.7326965     0.4455258
I1 =I3     12.9658432       3.4472644     2.6658792
I2 =I2     12.4920397       69.2427368    0.6879386
I3 =I1     51.6520996       7.4546685    -17.1007442