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"Sthir Sukham Aasanam" and "Prayatna Shaithilya Anant Samapattibhyam. The asana will be steady and comfortable only if the process of going in, maintaining it and releasing it, is with ease. Are we "sthir" while walking, running?
These are actually the stages of practice known as Samapattis, sometimes known as Samadhis - acquirements or achievements. We have very strange terms used in the Sutras of Patanjali such as the words Vitarka, Vichara, Ananda, Asmita, etc.
 See also: Patanjali, Yoga, Prana, Asana, Power
  
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