rope_position = [   0.4725935,  -0.8287682,   0.2996642]
        rope_normal = [  -0.0890518,   0.2933830,   0.9518383]
        foot_halfdist =    0.0669233
 
        bmax =  500.0000000
 
        pointlist_pos = [ \
            [   0.5423904,  -0.7969778,   0.2657801], \
            [   0.5423904,  -0.7969778,   0.2657801], \
        ]
 
        pointlist_neg = [ \
            [   0.4184369,  -0.8367387,   0.3532404], \
            [   0.4184369,  -0.8367387,   0.3532404], \
        ]