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Ahimsa Is the Highest Self Control
Ahimsa is an important theme in the yajur veda, and developed further in the upanishads. Alongside this principle of non violence towards living creatures, there also are various rules about the avoidance of impurities such as dead bodies or excrement. So one's darma is not always universal, like, say, the principle of ahimsa. A lot of it depends upon one's particular social position and the duties that come with it.