rope_position = [   0.6429290,   0.6928649,   0.3264666]
        rope_normal = [   0.4030064,  -0.6684845,   0.6250715]
        foot_halfdist =    0.0357784
 
        bmax =  500.0000000
 
        pointlist_pos = [ \
            [   0.6191938,   0.7136928,   0.3274776], \
            [   0.6191938,   0.7136928,   0.3274776], \
        ]
 
        pointlist_neg = [ \
            [   0.6690946,   0.6680552,   0.3255988], \
            [   0.6690946,   0.6680552,   0.3255988], \
        ]