Implement Climbing Down from Cliff Edge (w/ Rappelling)

Hello! I would love to be able to go to the edge of a ledge, perhaps with climbing picks equipped, and be able to start climbing down, rather than have to jump off and grapple to the wall. So a "climb down" feature as it were. Currently, it's either climb UP with the picks, or jump off with an umbrella.

Similarly, rappelling with the climbing picks would be neat, but probably costly from a stamina perspective.