easiest way is from a sit.
if you climb with your right foot hooked: from a climb, without moving your feet, bend at the waist and knees to go into a crouch. lean slightly forward so that your shoulders are in front of the pole. set your right armpit into the pole. put your left hand on the pole a few inches below your right armpit. use your hand to pull the pole in to your body. at one point, before your body is fully in the hold, the tension of the hand pulling the pole in towards you will be your main point of support-- so this has to be a good strong hold. with your right hand, grab your right foot. crank the foot behind you, arching your back and pushing your hips forward, so that the front of your hip and side of your stomach, as well as armpit, are contacting the pole. the harder you crank, kicking into your hand with your foot, the more stable the hold will be. make sure it is completely stable before you release your left hand to grab your left foot.
this is a trick that is a lot easier to show and troubleshoot in person! usually people don't arch their back enough.
another way out of the yogini- straight legs rocketman, put your left hand (outside hand) on the pole below you and go into cradle and then whatever you like! that's a fun one.