What is a good way to do a climbing system like in genshin ?

So I wanna add climbing system to my game and I am looking for a way to do it very well
, However I am thinking of giving the player 6 raycasts around his body and check their states
and decide the climbing state , Or is there any better idea for that ?

You should use IK,
Animation RIgging or another tool is the best way to do it.
You can even take items from table, put your hands to the wall etc.

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