How do I prevent my characters legs clipping through walls during climbing?

Hey guys,

I’m currently working on a third person climbing system and have pretty much got it sorted however my climbing animations clip through the wall while idle and climbing, like so:



It seems to be more of an issue during the idle state however there is some slight clipping when moving up/down/left/right also. Its also worth noting that as these were retargeted Mixamo to 5.1 animations I have turned the IK rig off when climbing because otherwise the characters legs would be stuck in place.

My question is how do I stop the characters hands and legs from clipping into the wall? I have tried making the capsules colliders radius larger but this doesn’t seem to do anything at all once the character is attached to the wall.

Cheers.