On this drill what we are looking for is a strong take off position, hands above the head driving the right arm up, hitting a nice strong take off position with a knee drive. Front toe turned and and foot dorsi flexed (pointing upwards), rolling the pole forwards, holding the take off leg back to prepare it for the next stage of the vault.
The top arm is driven up straight and stays straight. Typically beginner vaulters will try and pull on the pole as they take off to get more height but this should be avoided. It is a push action not a pull.