[KrazyCarl92]

Another thing to consider for the climber:

Unless you have really solid weight estimates everywhere in your CAD model, it's going to be difficult to know your COG. However, if you want the robot to lift level, you will need to know the forward/aft position of your COG. To achieve this, we left room for the hooks anywhere along the length of the robot within about a 1 foot span. To locate our COG we stood the robot up on its frame with a wheel on each side between the table and the frame and rolled it forward and back until the bot remained level without us supporting it. The location of the COG is directly above the line segment between the contact points of the 2 wheels on the robot frame. This allowed us to locate the hooks such that the robot would lift level.

It looks like you have some play with where you can mount the hooks, so perhaps this will help make your robot lift without much swing.