Render-clock tracking timestamps (menu toggle), physics step cap 6, docs for step 2.7

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

research/ragdoll-player-step2.md

@@ -221,3 +221,23 @@ fall); held poses drift 1 cm with the eye within 7 mm; crawl, mantle, climb, pul
 | 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.
+
+## Step 2.7 — climbing family, soft grab, charge jump, render-timed tracking (2026-10-02)
+
+Owner: Nimso's Project TX is the main source of mechanics. His clambering has "no actual mechanics — the physics
+engine does all the work"; higher ground "doesn't move my body up … until I push on it with enough pressure".
+
+| Change | Why / measured |
+|---|---|
+| **Ground = centre ray + sphere footprint** (r 0.12, face normal from a ray 2 cm inside the contact). Same-level ground from either; higher ground from the centre ray, or from the footprint while clambering | One ray dropped support as the hips swayed off a plank. Spike: 15 cm plank, ±9 cm hip sway → never loses the plank |
+| **Pressure rule** replaces "hips well above + whole hips over": stand on higher ground when the hips are over it and pressing = airborne, hands braced, lifted, a press within 0.6 s, or legs tucked | The old rule needed a full press-up. Two hands mantle 0.9 m and chest-high 1.2 m; one hand can't do 1.2 m |
+| **Bracing on physics objects** (≥ 15 kg or frozen; not what the hand carries) | Mantling the 25 kg playground box never counted as bracing (owner screenshot). Now mantles |
+| **Knee up**: braced (or just pressed) + hips held back tucks the legs collider | Thigh-high box: straight arms can't press while standing |
+| **Capsule hips** (Nimso) | The box pelvis's bottom edge caught ledge lips 1 cm below it |
+| **Support goal ≤ straight legs** | A head above the calibrated height (tiptoes) floated the body 35 cm |
+| **Arms never get collision exceptions** with held objects | Gripping one hold of a crag rock switched the arm off against the whole rock — arms "randomly" phased through the world |
+| **Soft grab** (`SoftGrab.cs`): grip point = palm-normal cast (else toward the centre); light props (≤ 6 kg) are moved to the palm, otherwise the hand goes to the hold; ~0.1 s, position only, weld when touching or stalled | Welds froze hover gaps. 1 kg cube from 6 cm → 1.5 mm in 0.10 s; bar from 5 cm → 1.2 cm (contact slop) |
+| **Jump: hold A to charge, release** (support goal sinks at 1.2 m/s, max stroke 0.5 m; JumpForce 2.2 g) | Owner: Boneworks-style. Tap 0.16 m, full charge 0.68 m, crouch + tap 0.66 m |
+| **Render-clock tracking timestamps** (`PoseFilter.Sample(..., sampleTime)`, `PlayerRig.TrackingAge`, bible v2 recipe) | At 1 m/s the per-tick speed spread is 1.25 m/s by arrival vs 0.013 m/s render-timed — every feed-forward beat at 18 Hz. Constant ~2-tick lag instead. Toggle in the menu to compare |
+| **max_physics_steps_per_frame 14 → 6** | One hitch could queue 14 ragdoll ticks in a frame (bible v2) |
+| Tried and reverted: arm aim from the physical shoulder vertically while climbing/tilted | Free-hand error 6.4 → 6.2 cm only, and it weakened pulls. The "tracking off when tilted" screenshots need a recording to diagnose |