Bharadvajasana

[2] He was the father of Drona, a master of military arts and the royal guru to Kauravas, Pandavas and the Devastras,[3] the princes who fought the great war of the Mahabharata.

A different asana is illustrated under the name Bharadvajasana in the 19th century Sritattvanidhi; it somewhat resembles Mayurasana with the legs in Padmasana, but as drawn it would be impossible to perform.

Bharadvajasana I is the basic form, with the legs as in Virasana (hero pose), one foot on the floor and the other ankle cradled in the arch of the foot below.

[9] Bharadvajasana II is an advanced form requiring high hip mobility; one leg is bent as in Padmasana (lotus position), while the other leg is bent as in Virasana.

This does not require hip mobility; the arms grasp the back of the chair to assist with the twist.