Aurellius is clearly a really buff guy so you could try tossing a grappling hook either over the crossbeam or catching it on one of the chain links then rope climbing up to the medallion. Knocking the medal down wasn't actually a bad idea, it just needs to be a little more of an effort, like a grappling hook is put through the chain then the rope is tied to one of the heavy blocks which is then dropped off of something tall (a stack of the other blocks or some such). Or maybe he uses one of the pole vaults to increase his jump to the point where he can touch it before falling back to earth. I would try a lot of these myself but Sapphire's got a broken rib which makes most of the physical stuff impossible.