Most of the time I just place one hand on the floor, use the other hand to quickly swing my balls like a pendulum and get them to rest over my thigh. Then, I take the leg without balls resting on it and extend it as far forward as possible, lowering myself ever so slightly. Finally, and this might be complicated for some, I get a firm grip on my penis and pull backwards between my legs in one swift motion, thereby causing myself to do a somersault over the toilet, the centrifugal force causing my balls to swing back against my asshole with the hair removing any residual poop that did not fly out during the somersault.
Then it's just a quick wipe of the bottom of my balls and I'm good to go. Note, don't wear rubber-soled shoes while doing this or you'll be at risk of ripping your penis head off. Don't say I didn't warn you.