rope_position = [  -0.1977365,   0.9716106,   0.1298969]
        rope_normal = [   0.9794552,   0.1904801,   0.0662187]
        foot_halfdist =    0.0658635
 
        bmax =  500.0000000
 
        pointlist_pos = [ \
            [  -0.2703323,   0.9479027,   0.1685259], \
            [  -0.2703323,   0.9479027,   0.1685259], \
        ]
 
        pointlist_neg = [ \
            [  -0.1656557,   0.9837791,   0.0688242], \
            [  -0.1656557,   0.9837791,   0.0688242], \
        ]