[DonRotolo]

For contact, I think you're going to get "when things touch, they are in contact. There is no time element to "contact" - it either is or isn't".

For Ascent, I think "the act of ascending", but that implies the intent to (continue) climbing, regardless of motion. And intent is difficult to discern.

After Ascent, you "have Climbed" (or is it "Clumb" ?;-)