Thanks eishiya, glad you don't find the pose out of place. Are you talking specifically about the camera movement or the climbing? Because right now, the camera is non-existent, it only follows the character all the time, and it's pretty bad. I'm going to implement a super Mario type camera, it's a lot more complicated than it seems when you play it, stimulating business!
What do you code your game with? If it's game maker, I'll happily share my own code with you. Not a fan of making big secret about small algorithms.
I'm working on the animation of ledges grabbing right now, I'll make a try with the right arm slipping and grabbing the ledge back. But I'm afraid this animation might become stale over time. If I have the time, it might be an optional version, triggered every now and then...
I use this technique, but only with tow shade for each colour. It doesn't pose a problem, but the motion is quite noticeable since the shades are well contrasted.