Hard to get out the first time but before putting it back in put a strap under and around the sides of battery and lower it down with the strap. Leave the strap around the battery for easy removal next time
Put the battery bolts most of the way in, and run some fishing line or weed-eater string across the terminals. No wire or metal..your essentially making a handle to lift it out. The threads are soft so wrap the line around the bolts. Once its out an inch or so you can get a grip on it.
Just tip your bike upside down and it will fall right out. ; )
You don't have to tip it completely upside down, just lay it on it's side and shake it.
I like the handle between the terminals idea. I put a longer screw in both and lifted it enough so I could grab the sides. Put a strap around the battery for next time.
They do make battery lifting straps. Should be able to find one at your local parts store. (o -------- o) <------Kinda look like that. Made out of plastic, you could probably fab one out of a milk container. Just a couple of holes for the terminals to fit through & the plastic in the middle is the handle.
I just push mine forward as much as possible and lift. It is a tight squeeze though.