How to make a Rigidbody to climb a Wall

Unity Engine
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1

I’m making a third-person game, where the player object will climb when it detects a wall at a certain distance, I’m using Raycast to make the detection, but I can’t find a way to make the Rigidbody climb.

My detection method

protected virtual bool DetecetOjects(LayerMask objectlayer, float detectionDistance)
    {
        var ray = new Ray(transform.position, transform.TransformDirection(Vector3.forward));
        RaycastHit hit;
        float maxDistance = detectionDistance;
        LayerMask objectLayer = objectlayer;
        if (Physics.Raycast(ray, out hit, maxDistance, objectLayer))
        {
            Debug.Log("Wall detected");
            return true;
        }
        else
        {
            return false;
        }
    }

Jump method

//jumping
        if (Input.GetKeyDown(KeyCode.Space) && onGround)
        {
            Jump(playerRb, playerJumpForce);
            animator.SetBool("Jumping", true);
            onGround = false;
            //jumping towards a wall
            if (DetecetOjects(enemiesLayer, detectionDistance))
            {
                animator.SetBool("Wall Detected", true);
            }
        }
2

Maby you can make it kinematic and then, make it climb with moving the transform upwards.

3

Here, you can research this one. It has more than what you need.