rope_position = [   0.4305381,  -0.8456634,   0.3154211]
        rope_normal = [   0.8922824,   0.4514126,  -0.0076674]
        foot_halfdist =    0.0880435
 
        bmax =  500.0000000
 
        pointlist_pos = [ \
            [   0.5409503,  -0.7876181,   0.2950094], \
            [   0.5409503,  -0.7876181,   0.2950094], \
        ]
 
        pointlist_neg = [ \
            [   0.3876814,  -0.8549191,   0.3446978], \
            [   0.3876814,  -0.8549191,   0.3446978], \
        ]