Yoga is very good but it does not produce limitlessness. Yoga practice does not produce that Self, that limitlessness. It provides a way to view it. Still the yogin may not understand the vision is himself, the limitless Self. Karma, action, keeps the individual going like credit cards keep people tethered to a job they hate just so they can keep paying bills.
Action is caused by desire.
Desire comes from a conviction of my own imperfection or limitation. That I am limited is not exactly true. Action leads to limited results. Limited results inspire more action. More action brings more limited results which inspires more desire.