In reply to Mountain Spirit:
In my experience this depends wildly on the problem, so I'll just throw a few ideas out there. I find that in most problems this can be overcome by being dynamic and jumping your feet into the correct place. The "foot jump" needs to be precise and land at the correct spot first time and quickly executed, otherwise you'll just hang on your arms/fingers potentially injuring yourself.
Also there might just be another position that might allow your body to match hand feet without having to do Yoga. For example if the sloper is on the left, leaning your body extremely to the right will allow space for you to extend and place your foot..