Is it Sunnah to sit on the floor to eat?
Question

                i have a confusion regarding sunnah. two knowledgeable men in usa said two different things. i heard that sunnah is an action that if you do it you are rewarded and if you don;t do it , then there is no sin upon you. so about the issue of following the Prophet in details such as sitting on the floor to eat. the question was posed to two different people here, both knowledgeable, one of them said if you are sitting on the floor to eat with the intention of following the rasool then you will be rewarded for it. the other shaykh said no there is no reward for it because it is a worldly matter. What is the correct opinion ? this is important because if there is no reward i'd rather sit on the table and eat or wear non-sunnah clothes if  it is merely a wordly matter.
Praise be to Allah.1.The Muslim 
          is required to follow the example of the Prophet  
          (peace and blessings of Allaah be upon him) because he is the best example 
          for this ummah. 
2.The scholars 
          have divided the actions of the Prophet  
          (peace and blessings of Allaah be upon him) into a number of categories: 
          
a.Thoughts 
          and ideas that cross the mind, and physical movements such as how one 
          moves one's limbs and body. These are matters in which there is no command 
          to follow him and there is no prohibition against doing so. 
b.Matters 
          which have nothing to do with worship and have to do with human nature, 
          such as how one stands, sits, etc. It is not commanded to follow the 
          Prophet’s example in these matters, but according to the majority of 
          scholars it is permissible to do so. 
c.Matters 
          which may move beyond spontaneous human actions to the field of legislation 
          (being prescribed in Islam) because the Prophet  
          (peace and blessings of Allaah be upon him) persisted in doing them 
          in a certain manner. These include matters of eating, drinking, dressing 
          and sleeping, especially those concerning which the Prophet  
          (peace and blessings of Allaah be upon him) gave specific guidance. 
          The correct view is that these are included in matters which are prescribed 
          in Islam. This is the view of al-Shaafa'i and was regarded as more correct 
          by al-Shawkaani in his book Irshaad 
          al-Fuhool. This category includes the matters asked about 
          in the question. 
d.Matters 
          which are known to be applicable only to the Prophet  
          (peace and blessings of Allaah be upon him), such as continual fasting 
          [i.e., fasting for more than one day without breaking the fast at night] 
          and having more than four wives. These apply only to him and not to 
          anyone else. 
And there are other categories… 
(Irshaad al-Fuhool 
          by al-Shawkaani, p. 160). 
 3.It was 
          narrated that the Prophet  (peace 
          and blessings of Allaah be upon him) used to eat (sitting) on the ground. 
          
And it was narrated that he said: “I eat as a slave 
          eats and I sit as a slave sits.” 
(Narrated by Abu Ya’laa, 8/318) 
This hadeeth was classed as saheeh by al-‘Allaamah al-Albaani 
          (may Allaah have mercy on him) in al-Silsilat 
          al-Saheehah, 544. 
It was also narrated that Anas ibn Maalik said: “The 
          Prophet  (peace and blessings of 
          Allaah be upon him) never ate at a khiwaan or a sikrujjah, and he never 
          had any soft bread.” I said to Qutaadah: “What did he used to eat from?” 
          He said, “A cloth (spread on the floor).” 
(Narrated by al-Bukhaari, 5099). 
A khiwaan is a kind of tray on which food is placed. 
          
A sikrujjah is a vessel in which appetizers are placed. 
          
In such matters it is not obligatory for the Muslim 
          to follow the example of the Prophet  
          (peace and blessings of Allaah be upon him), but he may still do so. 
          If a Muslim eats at a table, there is no sin on him. 
With regard to clothing, we are obliged to 
          dress differently from the people of the Book and all other kaafirs, 
          because the Prophet  (peace and 
          blessings of Allaah be upon him) issued commands to that effect, and 
          warned against dressing like the kuffaar. 
The Prophet  
          (peace and blessings of Allaah be upon him) said: “Whoever imitates 
          a people is one of them.” (Narrated by Abu Dawood, 4031) 
This hadeeth was classed as saheeh by al-Albaani in 
          Irwaa’ al-Ghaleel, 8/49. 
          
And he  
          (peace and blessings of Allaah be upon him) said to ‘Abd-Allaah ibn 
          ‘Amr ibn al-‘Aas: “This is one of the garments of the kuffaar, do not 
          wear it.” 
Narrated by Muslim, 2077. 
‘Umar ibn al-Khattaab (may Allaah be pleased 
          with him) told ‘Utbah ibn Farqad: “Beware of the manner of dressing 
          of the people of shirk.” (Narrated by Muslim, 2069). 
Conclusion: 
It is mustahabb (recommended, encouraged) for the Muslim 
          to follow the example of the Messenger  
          (peace and blessings of Allaah be upon him) in the matters mentioned 
          in the question, i.e., eating and drinking (seated) on the ground, but 
          there is no sin in eating at a table. With regard to clothing, the Muslim 
          is commanded to dress in Muslim clothes and to dress differently than 
          the mushrikeen. 
And Allaah knows best.