So Simon talks of moving into padmasana hands free but he also mentions without momentum or gravity, Krishnamacharya above is using momentum
"The video below is part of one of our more advanced Yoga Synergy Sequences. Notice the use of controlled active movements that are a key feature of even the most simple Yoga Synergy sequences. I am getting into postures without using external forces such as gravity, momentum or one limb pulling another in the same way that traditional yoga has always mostly been practiced in India. Active movements activate the shortened muscles, which causes the lengthened muscles to become reciprocally relaxed. This gives flexibility without feeling strong stretching, builds strength without stress, increases blood flow without the rate racing; and allows you to do complex postures without having to over think. Active movements are a key feature of the Yoga Synergy System that Bianca Machliss and I developed as traditional yoga for the modern body". Simon Borg-Olivier Moving Actively into Postures Can give Strength and Flexibility Without Tension or Stretching
Some early videos
Jumping into lotus and jumping back from lotus
Amused by this early video of trying to jump into kukkutasana, get there in the end.
Working towards Karandavasana, the 14 day challenge, it took another week before I was able to go back up.
Note: the sequences in Vinyasa krama tend to be educational, showing the relation between different variations as preparation and extension. Generally, within a sequence there tends to be several key asana, preceeded by preparation and followed by my challenging variations. If the preparations for the asana are all that are possible in one group then you could then move on to the next...family within the sequence and so on. Once a certain degree of familiarity is attained one then the idea is to take a number of asana and variations from different sequences to construct your daily practice, perhaps different variations on different days so as to access all areas of the body over a week or so.
If you're struggling with your lotus and installing an old fashioned squat toilet is impractical, slipping malasana somewhere into your practice might be an option and may help.
The most important thing to remember about lotus is to have your knee bent before trying to take it onto the thigh, bending the knee fully, locks and protects the knee, try and crank an unbent knee into lotus, or even trow it in under momentum can cause serious damage.