According to what we see in the yoga studios in the west and to the point of view shared in the documentary Yoga and diversity, it is 100% true that yoga space is occupied by privileged, white and educated women.
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The Sanskrit word "asana" means a body pose or a positin that a body can take. Any pose that a body can take, a pose that has no official record or a name is also an asana. This means we all can create our own asanas, simple or difficult ones, and still it will be an effectual asana - a body pose.