A rock climber can... a little kid can (they have crazy strength-weight ratio)... anyone who can do dips on rings or parallel bars and a couple push-ups/pull-up

A rock climber can... a little kid can (they have crazy strength-weight ratio)... anyone who can do dips on rings or parallel bars and a couple push-ups/pull-ups can. It's mostly balance, and some arm/shoulder/chest strength. If you have a flexible back it's easier. If you're used to being upside-down it's easier. It also depends what "form" you're going for, as capoeristas sometimes have a different method than yogis. Some want you to learn only by shooting your legs straight up, some are fine with rolling into it, some start with a wall, some start from a shoulder stand. I personally prefer the "flail my legs around trying to look at the closet mirror and then fall on the pile of dirty clothes" method.