rope_position = [   0.6449781,   0.6925726,   0.3230271]
        rope_normal = [   0.4664968,  -0.6916204,   0.5514000]
        foot_halfdist =    0.0389479
 
        bmax =  500.0000000
 
        pointlist_pos = [ \
            [   0.6190698,   0.7150440,   0.3247532], \
            [   0.6190698,   0.7150440,   0.3247532], \
        ]
 
        pointlist_neg = [ \
            [   0.6741837,   0.6660337,   0.3191793], \
            [   0.6741837,   0.6660337,   0.3191793], \
        ]