Yoga Nidra (Sanskrit: निद निद्रा) or the yogic sleep creates a state of consciousness between waking and sleeping. The yogic goal of the two paths, from deep relaxation (yoga nidra) and meditation, are the same, a meditative condition called Samadhi.
Yoga Nidra is one of the possibilities of deepest relaxation while at the same time remaining at full awareness. In Lucid dreams one is only or predominantly a receptorof the dream environment and one has little or no consciousness for the environment.
The practice of Yoga relaxation promotes the reduction of tension and anxiety. Autonomic symptoms of severe anxiety such as headache, dizziness, chest pain, palpitations, sweating, and abdominal pain are reduced. Nidra was used to help soldiers after traumatic warships to cope with posttraumatic stress disorders.