Finding a way to to get an npc to climb a wall?

Im trying to create npcs like spiders and I need them to be able to climb surfaces. I also need them to angle themselves to appear like they are really climbing a surface. I tried experimenting with body movers. for example using bodythrust to hold a model against a surface, the problem with that is even with friction set to max its hard to keep it on the surface AND be able to move it around.

This might be a good place to start: [Release] Custom character controller