But how did you manage to do the climb animation when the character were on the edge?
I used 7 RayCasts. One small in the chest (to see if next to wall), three in the head (to see if there's space in front of her after the jump) and three more above the head, point diagonally to front/up (to see if there's space above). The last three were to avoid bugs where she tries to get up in a small space.