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There is a long history of haThayoga prior to the HYP. In medieval bhArata the
haThayoga broke out as a distinct system of yogasAdhana (i.e. practice) from its
tAntrika roots. Prior to that it was used within the matrix of shaiva and vaiSh
Nava tAntrika systems. For example in the shiva saMhitA you can still see the li
nks to the shaiva system of the worship of the the great goddess tripurA. The ol
dest elements of haThayoga i.e. a system of detailed Asana-s are described in th
e shaiva tantra-s of the dakShiNa and Urdhva srotas. They include some difficult
Asana-s which are no longer in vogue. svAtmArama was drawing in large part from
these tAntrika antecedents with some practical modifications of his own.
<<The origin of ayurveda is also not so clear to me. When they say the god Dhanv
antari propounded the knowledge to a disciple, what are they essentially saying?
>>
The roots of Ayurveda lie in an older Vedic tradition namely the text of the ath
arvaveda. Some later day Hindu traditions holds that the atharvaveda along with
the other veda-s are eternal words emanating from the primal cause. However, the
internal evidence shows that the AV authors where very conscious of being human
and the AV hymns are addressed by humans to deva-s or various medicinal entitie
s. The classical Ayurveda emerges in the charaka saMhitA which also has close li
nks to vedic tradition. It is presented as a discussion between learned brAhmaNa
and kShatriya teachers of medicine. However it recognizes that some of these te
achers first learned medicine from the deva-s indra and the ashvin-s.
dhanvantari was originally a daivodAsa king of kAshI who founded a medical schoo
l. He was later deified and syncretized with the deva viShNu as the founder of h
indu medicine.
<<Is this what the Hindus mean when they talk about revealed/ heard scriptures?>>
There are certainly considerable differences of opinions among Hindu traditions
regarding how to interpret shruti (somewhat imprecisely termed revelation). Some
restrict it to the veda-s, other say it was a more continuous process expressin
g itself later in the form of the tantra-s. Others feel it even goes on to the c
urrent age in the form of the words of siddha-s and yogin-s. There are differenc
es again in terms of what exactly is meant to be shruti. Many typically hold the
view that the veda-s words are eternal and was heard as is by the R^iShi-s due
to their state of consciousness. A less restrictive view is that the veda is an
expression of eternal truths seen by the R^iShi-s. Yet others hold the view that
the veda was an earlier expression of the eternal truth seen by old R^iShi-s bu
t it has been superseded by the direct teachings of the gods in the tantra-s. St
ill others say the tantra-s do not supersede but elaborate the teachings of the
veda.
The authors of the veda themselves do not see their works as productions of the
gods.