rope_position = [  -0.3260547,  -0.8548279,  -0.4036800]
        rope_normal = [  -0.8907281,   0.4208461,  -0.1717325]
        foot_halfdist =    0.0344582
 
        bmax =  500.0000000
 
        pointlist_pos = [ \
            [  -0.3478027,  -0.8632373,  -0.3658615], \
            [  -0.3478027,  -0.8632373,  -0.3658615], \
        ]
 
        pointlist_neg = [ \
            [  -0.2971096,  -0.8564149,  -0.4222313], \
            [  -0.2971096,  -0.8564149,  -0.4222313], \
        ]