#include <bits/stdc++.h>

#define fi first
#define se second
#define pb push_back

typedef long long ll;
#define int ll

using namespace std;

int n;
double t;
double x[110];
double y[110];
double g[110][110];

double d[110];
int p[110];

pair<double, double> cl(double x, double y, double xp, double yp)
{
    if (abs(x-xp) < abs(y-yp))
        return {xp, y};
    else
        return {x, yp};
}

main()
{
    ios_base::sync_with_stdio(0);
    cin.tie(0);
    cout.tie(0);

    cin>>n>>t;
    cin>>x[0]>>y[0];
    cin>>x[n+1]>>y[n+1];
    for (int i=1; i<=n; i++)
        cin>>x[i]>>y[i];

    for (int i=0; i<=n+1; i++)
        for (int j=i+1; j<=n+1; j++)
    {
        if (i>=1 && j<=n)
        {
            g[i][j] = g[j][i] = t;
        }
        else if (i==0 && j==n+1)
        {
            double dx = x[i]-x[j];
            double dy = y[i]-y[j];
            g[i][j] = g[j][i] = sqrt(dx*dx+dy*dy);
        }
        else
        {
            g[i][j] = g[j][i] = min<double>(abs(x[i]-x[j]), abs(y[i]-y[j])) + t/2;
        }
    }

    for (int i=0; i<=n+1; i++)
        p[i] = -1, d[i] = 1e18;
    d[0] = 0;
    set<pair<double, int> > st;
    for (int i=0; i<=n+1; i++)
        st.insert({d[i], i});
    while (st.size() > 0)
    {
        auto [x, v] = *st.begin();
        st.erase(st.begin());
        for (int i=0; i<=n+1; i++)
            if (i!=v)
        {
            if (d[i] > d[v] + g[v][i])
            {
                st.erase({d[i], i});
                d[i] = d[v] + g[v][i];
                p[i] = v;
                st.insert({d[i], i});
            }
        }
    }

    cout<<fixed<<setprecision(10);

    int c = n+1;
    vector<int> v;
    while (c != 0)
    {
        v.pb(c);
        c = p[c];
    }
    reverse(v.begin(), v.end());
    c = 0;
    cout<<d[n+1]<<"\n";

    if (v.size() == 1)
        cout<<1<<"\n";
    else
        cout<<v.size()+1<<"\n";
    for (int id=0; id<v.size(); id++)
    {
        int i = v[id];
        if (c==0 && i!=n+1)
        {
            auto pa = cl(x[0], y[0], x[i], y[i]);
            cout<<0<<" "<<pa.fi<<" "<<pa.se<<"\n";
            if (id+1 == int(v.size())-1)
            {
                auto pa = cl(x[n+1], y[n+1], x[i], y[i]);
                cout<<i<<" "<<pa.fi<<" "<<pa.se<<"\n";
            }
        }
        else if (c==0 && i==n+1)
        {
            cout<<0<<" "<<x[i]<<" "<<y[i]<<"\n";
        }
        else if (i == n+1)
        {
            cout<<0<<" "<<x[i]<<" "<<y[i]<<"\n";
        }
        else
        {
            cout<<c<<" "<<x[c]<<" "<<y[i]<<"\n";
            if (id+1 == int(v.size())-1)
            {
                auto pa = cl(x[n+1], y[n+1], x[i], y[i]);
                cout<<i<<" "<<pa.fi<<" "<<pa.se<<"\n";
            }
        }

        c = i;
    }

//    for (int i=0; i<=n+1; i++)
//        cout<<d[i]<<" "<<p[i]<<"\n";
//    cout<<d[n+1]<<"\n";
}