“The Veda speak eloquently of the lotus in one’s heart, where Īśvara resides.
It is only when the mind is quiet, clear, and steady that we can
reach into and visualise this most intimate part of ourselves.
Yoga as a Saṃskāra leads to Yoga as a means to experience this.
The experience of Dhyānam, in this ideal sense,
eventually evolves into Samādhi – total absorption in Īśvara.”
– T Krishnamacharya on Yoga Sūtra Chapter One verse 2

We must also consider the safety factors
“For example Viparīta Padmāsana could
be approached by working dynamically
from Ardha Padma Sarvāṅgāsana
into Ardha Padma Halāsana. This would
ascertain the ability to work into and with
Padmāsana in an inverted Āsana such as Śīrṣāsana.
Thus, any Āsana practice must allow for certain
safety factors, so we are able to work with respect
and regard for the individual involved and yet
retain consideration of and for the safety factors.”
– 108 Yoga Planning Pointers
– The Viniyoga of Planning Principles Guidelines – Collected & Collated