Reuse the climb mode for ceilings (surface normal pointing down):
grab by jumping up into a ceiling or by climbing a wall up into an
overhang. The body stays upright and crawls camera-relative in the
horizontal plane; jump or a ceiling edge releases into a fall.
Generalize the wall probe to use the capsule's support extent
(radius sideways, half-height vertically) so the ceiling gap is correct.
Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
adminandClaude Opus 4.8
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