Exit the previous room with Samus in a standing pose (while grappled). After teleporting, hold left while releasing Grapple to stay standing (not being forced into a crouch). Then X-ray climb to get out of the floor.

Entrance condition:

{
  "comeInWithGrappleTeleport": {
    "blockPositions": [
      [
        12,
        12
      ],
      [
        12,
        13
      ]
    ]
  }
}

Requires:

"canXRayClimb"

Dev note: This can be done with a setup from either of the two possible Grapple blocks in Halfie Climb. The lower block can be used more easily.