All the commentaries on the Yoga Sutra have their own angle or agenda except Vyasa’s, which is flawlessly aligned with the Yoga Sutra.  Panditji’s study with two great masters led him to realize that the Yoga Sutra is a living scripture, with every sutra having an experiential component.  Every sutra directly or indirectly helps us to understand the mind, turn it inward, and achieve life's purpose.