Shoulder range of motion: drive-mode angular limits in the Box3D fork

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

research/ragdoll-player-step2.md

@@ -219,3 +219,5 @@ fall); held poses drift 1 cm with the eye within 7 mm; crawl, mantle, climb, pul
 | **Stick crouch (right stick Y)** = `RagdollDriver.StickCrouch`, a virtual floor this far above the real one, fed to the solver, ground control and the view re-centering | The pose crouches, the play space settles that far below the ground, the camera rides down. Spike: 0.6 m → eye 1.045, origin −0.601, eye vs camera 5 mm; back up to 1.650 |
 | **XR origin drawn interpolated** (`PlayerRig`: physics owns `_physOrigin`; `_Process` (priority −100) shows `prev.InterpolateWith(cur, Engine.GetPhysicsInterpolationFraction())`, `_PhysicsProcess` (priority −100) restores it; anyone else moving the origin is adopted; jumps/snap turns don't interpolate) | The bodies are drawn interpolated a tick behind while the origin stepped raw at 144 Hz under a 90 Hz display — the body looked like it was in two places when moving (owner). Not verifiable headless; needs the headset |
 | Menu summon on left X only | Right A is jump |
+
+**Shoulder range (2026-10-02):** the fork's DRIVE now honours angular limits (Box3D motor joint + swing ellipse/twist, `research/godot-box3d-6dof.md`); `PlayerRagdoll.ShoulderRange` (Y −90..+100° mirrored, Z −85..+155°, twist ±80°, frame X = humerus at build). Ragdoll spike unchanged with it on — the limits only engage when something forces the arm.