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एवमाभ्यन्तरो ज्ञेयो बाह्यश्चासनजो विधिः । तथा स्वगृहवार्तासु च्छन्देनासनमिष्यते ॥ २२१॥

Thus, the rule regarding seats (āsana) in the inner (ābhyantara) and the outer (bāhya) settings is to be understood in this way. And in one’s own house, during daily domestic life, the seat may be taken freely according to one’s own will.

english translation

evamAbhyantaro jJeyo bAhyazcAsanajo vidhiH | tathA svagRhavArtAsu cchandenAsanamiSyate || 221||

hk transliteration by Sanscript