This great side body stretch is not only a calming posture, but it also works on untangling the psoas muscles.

Bolster is at the high waist mark and there is no weight on the shoulder. Use a block for the head and one for the upper arm. A blanket between the legs can give some relief with the lower back. A nice variation would be to extend the top leg and then move it behind you, opening even further the psoas.