Sounds like a "cat leap" aka "saut de bras" to me. You should be hitting the wall with the balls and pinky toe balls of your feet first, pull your toes up! Your legs should cushion as well, and if you need even more cushion after you take the main impact with your legs then you let them slide down so your body will be flat against the wall. Just don't keep your legs too high up when cushioning, else you won't be able to grab the wall properly.
Moving to the right forum.