I've used this simple poster with the kids in class. We went through it and then they thought up their moves. It didn't matter if the animals or shapes weren't on the sheet so long as they were holding a pose.
Over the week, they've split into different groups and made up their own yoga sequence which they sometimes share with another group, it's just a 10 minute activity.
If you have kids at home and want to do yoga with them you can adapt the poster to suit. If I suggest to my kids that we do yoga they just groan but if they have creative control over it they often join in and really enjoy it.