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**Verse 31:**
* **Iccha Tadvātkatha Prītiyukta'viparināminī. Pravṛttiḥ Pālanam Samyak Sarvatropaśamānvitam.**
**Meaning:** A story that reveals the nature of yoga, free from transformation and filled with joy, is called *Iccha Yoga*. And the proper observance of vows, etc., accompanied by *upaśama* everywhere, is called *Pravṛtti Yoga*.
**Verse 32:**
* **Satkṣayopaśamotkarṣādatičarādicintayā. Rahitam Tu Sthiraṁ Siddhiḥ Pareṣāmārthasaadhakam.**
**Meaning:** Yoga that is free from thoughts of excess, etc., due to the excellence of *satkṣaya* and *upaśama*, is called *Sthira Yoga*. And *Siddhi Yoga* is the means of achieving the goals of others.
**Verse 33:**
* **Bhedā Ime Vicitrāḥ Syuḥ Kṣayopaśamabhedatah. Śraddhāprītyādiyogena Bhavyānām Mārgagāminām.**
**Meaning:** These distinctions are diverse due to the differences in *kṣaya* and *upaśama* for the *bhavyas* who are on the path, through the yoga of faith, joy, etc.
**Verse 34:**
* **Anukampā Ca Nirvedaḥ Samvegaḥ Praśamastathā. Eteṣām Anubhāvāḥ Syuricchadīnām Yathākramam.**
**Meaning:** These *Iccha* yogas have four effects in order: *Anukampā* (compassion), *Nirveda* (dispassion), *Samvega* (arousal), and *Praśama* (tranquility).