catch_finger_height = 1.5;
catch_finger_depth = 2.5;
catch_catch_slope = 0.25;
+catch_close_slope = 1.00;
catch_topcurve_r = 5.0;
cppC = [ cppB[0], cppD[1] ];
cppT = cppS + [1, -catch_catch_slope] * catch_depth;
cppU = cppT + [0,-1] * catch_height;
-cppV = [ cppS[0], cppU[1] - catch_depth ];
+cppV = [ cppS[0], cppU[1] - catch_depth * catch_close_slope ];
cppR = 0.5*(cppP + cppJ);