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Can I connect headphones to Panasonic P50ST50?

* I have Sennheiser TR130 wireless headphones. Their base unit has 2 RCA male connectors.

* It's important that the outcome has the following capabilities:

* TV speakers remain on & controllable independent of headphones.
* Able to mute TV independent of headphones.

I'm willing to invest in sound bar if necessary.

TV has optical audio out.