Im making a climbing system just for fun which you can find here Climbing System - Roblox. If you notice the player falls off alot and I dont know how to fix this, should I apply a velocity foward? Im also looking for tips on how to improve it.
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It would help if you posted your code work here so we can get a better idea of what you’re currently doing.
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The player doesn’t even start climbing to begin with. If you want to be able to climb every wall, then the most reliable solution would be to rewrite the entire character system; otherwise, you could just place invisible trusses on each wall.
One way is to anchor the players torso or you could use welds all though I haven’t seen your code. I recommend you have a client handle welding as handling it on the server will give a falling effect as well due to ping amounts.
You could use Weld to make that work.
If you are able to, please post your code so we can assist you better.
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Add some climbing animations would be great! Also, yeah, we would need your code in order to assist you better 
Nice concept you have going on though!