If you jump from the side where the Siva cluster is, you land in the social space. There is a ledge there that looks like a good jumping off point. I lived and have heard that others did as well. I should never have lived from that high of a jump, so it makes me think that Bungie intentionally changed the landing/damage mechanics for that in order to make it easier to get down.

I did not survive the jump but I got some awesome clips of jumping off and my body bouncing through the iron courtyard