Pulling yourself over a ledge in VR


I am making a VR game with standard locomotion, however the player is able to grab and pull themselves over ledges (info graphic attached). I’ve got all of the mechanics of the motion for pulling yourself over a ledge working, but now I am stuck on the capsule component. I’ve discovered the “set capsule size” but how would I also move the capsule’s origin up, since everything else is a child to said capsule component?