Ok, I know what you are going to say first, "No it's a terrible idea it would be way to over powered that a person would be able to scale a full height castle wall" no, I mean the grappling hooks that are more like siege ladders, not something someone would use to scale the wall, and open a gate on the other side. It would require maybe a 60 or 90 in climbing to use, and they would be thrown over walls, and anchor on to the blocks on the wall. Defenders would be allowed to pry the hooks off the wall similar to seige ladders, and the attackers would fall down. The attackers also wouldn't be able to climb if they had full plate armor, or many heavy items.
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