rope_position = [   0.6443139,   0.6929810,   0.3234762]
        rope_normal = [   0.4762794,  -0.6945395,   0.5392335]
        foot_halfdist =    0.0391758
 
        bmax =  500.0000000
 
        pointlist_pos = [ \
            [   0.6168682,   0.7124803,   0.3344331], \
            [   0.6168682,   0.7124803,   0.3344331], \
        ]
 
        pointlist_neg = [ \
            [   0.6747851,   0.6660011,   0.3179743], \
            [   0.6747851,   0.6660011,   0.3179743], \
        ]