Hi,
I have no experience with mecanim but i do know a bit about animation. For this your character will need to have any necessary joints rigged in order to make them hinge and you will need a script to activate the animation once in contact with the ladder or wall.
function OnCollisionEnter(theCollision : Collision){
if(theCollision.gameObject.name == "Wall"){
Animation.Play ("Climb");
}
}
// This is assuming the animation is called 'Climb' and the wall is called 'Wall' - Both without the quotation marks.
This script will play the animation once you come in contact with the wall, to make the option to climb only after collision with the wall is out of reach of my coding capabilities (I'm only 13 and an amateur at coding).
I can only help if you would like to use the animator in unity because thats all I know how to use but obviously you want to use mecanim so I'll let somebody else advise you on that.
I hope this will help and I'm sorry I can't help with mecanim. I hope your game is successful and good luck!
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