Yoga Nidra, A state of Bliss and Deep Relaxation
Nidra is a type of sleep in which people sleep without addressing their tensions.
Nidra implies sleep, no matter what or why.
Yoga nidra, on the other hand, signifies sleep after releasing the responsibilities, and it is of a happy, better quality.
Even though consciousness is independent and different from the vrittis, when waking, dreaming, and profound sleep pass by like clouds, atma consciousness persists.
This is what it feels like to be completely relaxed.
Relaxation is not the same as sleep.
Relaxation is defined as being perfectly content with no end in sight.
I refer to happiness as complete relaxation; sleep, on the other hand, is a different story.
Sleep just relaxes the mind and senses.
Yoga nidra is the gate to samadhi in tantra because it relaxes the atma, the inner self.
You may also want to read more about Yoga Nidra here.