rope_position = [   0.4644239,   0.8641067,   0.1939849]
        rope_normal = [  -0.7721620,   0.5023580,  -0.3891044]
        foot_halfdist =    0.0553329
 
        bmax =  500.0000000
 
        pointlist_pos = [ \
            [   0.4543007,   0.8790126,   0.1447334], \
            [   0.4543007,   0.8790126,   0.1447334], \
        ]
 
        pointlist_neg = [ \
            [   0.4833287,   0.8400378,   0.2464342], \
            [   0.4833287,   0.8400378,   0.2464342], \
        ]