rope_position = [   0.4697277,  -0.8335245,   0.2908486]
        rope_normal = [   0.6198707,   0.5459894,   0.5636097]
        foot_halfdist =    0.0695408
 
        bmax =  500.0000000
 
        pointlist_pos = [ \
            [   0.5316893,  -0.7992934,   0.2800653], \
            [   0.5316893,  -0.7992934,   0.2800653], \
        ]
 
        pointlist_neg = [ \
            [   0.4088273,  -0.8495019,   0.3334767], \
            [   0.4088273,  -0.8495019,   0.3334767], \
        ]