Verse 6.11-12

śucau deśe pratiṣṭhāpya sthiramāsanamātmanaḥ |
nātyucchritaṃ nātinīcaṃ cailājinakuśottaram ||11||
tatraikāgraṃ manaḥ kṛtvā yatacittendriyakriyaḥ |
upaviśyāsane yuñjyādyogamātmaviśuddhaye ||12||

The Subodhinī commentary by Śrīdhara

āsananiyamaṃ darśayannāha śucāviti dvābhyām | śuddhe sthāne ātmanaḥ svasya āsanaṃ sthāpayitvā | kīdṛśam ? sthiramacalam | nātyucchritaṃ nātīvonnatam | na cātinīcam | celaṃ vastram | ajinaṃ vyāghrādicarma | celājine kuśebhya uttare yasya | kuśānāmupari carma tadupari vastramāstīryetetyarthaḥ ||11||

tatreti | tatra tasminnāsana upaviśyaikāgraṃ vikṣeparahitaṃ manaḥ kṛtvā yogaṃ yuñjyādabhyaset | yatāḥ saṃyatāścittasyendriyāṇāṃ ca kriyā yasya saḥ | ātmano manaso viśuddhaya upaśāntaye ||12||

The Gūḍhārthadīpikā commentary by Madhusūdana

tatrāsananiyamaṃ darśayannāha śucau deśa iti dvābhyām | śucau svabhāvataḥ saṃskārato vā śuddhe janasamudāyarahite nirbhaye gaṅgātaṭaguhādau deśe sthāne pratiṣṭhāpya sthiraṃ niścalaṃ nātyucchritaṃ nātyuccaṃ nāpyatinīcaṃ cailājinakuśottaraṃ cailaṃ mṛduvastramajinaṃ mṛduvyāghrādicarma te kuśebhya uttare uparitane yasmiṃstat | āsyate'sminnityāsanaṃ kuśamayavṛṣyupari mṛducarma tadupari mṛduvastrarūpamityarthaḥ | tathā cāha bhagavān patañjaliḥ sthirasukhamāsanamiti | ātmana iti parāsanavyāvṛttyarthaṃ tasyāpi parecchāniyamābhāvena yogavikṣepaparatvāt ||11||

evamāsanaṃ pratiṣṭhāpya kiṃ kuryāditi tatrāha tatraikāgramiti | tatra tasminnāsana upaviśyaiva na tu śayānastiṣṭhan vā | āsīnaḥ sambhavātiti nyāyena | yatāḥ saṃyatā uparatāścittasyendriyāṇāṃ ca kriyā vṛttayo yena sa yatacittendriyakriyaḥ san yogaṃ samādhiṃ yuñjītābhyaset | kimartham ? ātmaviśuddhaya ātmano'ntaḥkaraṇasya sarvavikṣepaśūnyatvenātisūkṣmatayā brahmasākṣātkārayogyatāyai | dṛśyate tvagryayā buddhyā sūkṣmayā sūkṣmadarśibhiḥ [KaṭhU 1.3.12] iti śruteḥ |

kiṃ kṛtvā yogamabhyasediti tatrāha ekāgraṃ rājasatāmasavyutthānākhyaprāguktabhūmitrayaparityāgenaikaviṣayakadhārāvāhikānekavṛttiyuktamudriktasattvaṃ manaḥ kṛtvā dṛḍhabhūmikena prayatnena sampādyaikāgratāvivṛddhyarthaṃ yogaṃ samprajñātasamādhimabhyaset | sa ca brahmākāramanovṛttipravāha eva nididhyāsanākhyaḥ | taduktam

brahmākāramanovṛttipravāho'haṅkṛtiṃ vinā |
saṃprajñātasamādhiḥ syāddhyānābhyāsaprakarṣataḥ || iti |

etadevābhipretya dhyānābhyāsaprakarṣaṃ vidadhe bhagavān yogī yuñjīta satataṃ [Gītā 6.10] yuñjyādyogamātmaviśuddhaye [Gītā 6.12] | yukta āsīta matpara [Gītā 6.14]ityādi bahukṛtvaḥ ||12||

The Sārārthavarṣiṇī commentary by Viśvanātha

pratiṣṭhāpya stthāpayitvā | celājinakuśottaramiti kuśāsanopari mṛgacarmāsanam | tadupari vastrāsanaṃ nidhāyetyarthaḥ | ātmano'ntaḥkaraṇasya viśuddhatve vikṣepaśūnyatvenātisūkṣmatayā brahmasākṣātkārayogyatāyai dṛśyate tvagryayā buddhyā [KaṭhU 1.3.12] iti śruteḥ ||1112||

The Gītābhūṣaṇa commentary by Baladeva

āsanamāha śucāviti dvābhyām | śucau svataḥ saṃskārataśca śuddhe gaṅgātaṭagiriguhādau deśe sthiraṃ niścalam | nātyucchritaṃ nātyuccam | nātinīcaṃ dārvādinirmitamāsanaṃ pratiṣṭhāpya saṃsthāpya | cailājine kuśebhya uttare yatra tat | cailaṃ mṛduvastram | ajinaṃ mṛdumṛgādicarma | kuśopari vastramāstīryetetyarthaḥ | ātmana iti parāsanasya vyāvṛttaye parecchāyau aniyatatvena tasya yogapratikūlatvāt | tatreti tasmin pratiṣṭhāpite āsane upaviśya, na tu tiṣṭhan śayāno vetyarthaḥ | evamāha sūtrakāraḥ āsīnaḥ sambhavāt[Vs 4.1.7] iti | yatā niruddhāścittādikriyā yasya saḥ mana ekāgramavyākulaṃ kṛtvā yogaṃ yuñjīta
samādhimabhyaset | ātmano'ntaḥkaraṇasya viśuddhaye atinairmalyena saukṣmyeṇātmadarśanayogyatāyai dṛśyate tvagryayā buddhyā sūkṣmayā sūkṣmadarśibhiḥ [KaṭhU 1.3.12] iti śravaṇāt ||1112||

__________________________________________________________