The Yoga of action, leading to union with the soul is fiery aspiration, spiritual reading and devotion to Ishvara. The aim of these three is to bring about soul vision and to eliminate obstructions. Avidya is the condition of confusing the permanent, pure, blissful and the Self with that which is impermanent, impure, painful and the not-self. The sense of personality is due to the identification of the knower with the instruments of knowledge.
Desire is attachment to objects of pleasure.
Hate is aversion for any object of the senses. Intense desire for sentient existence is attachment. This is inherent in every form, is self-perpetuating, and known even to the very wise. These five hindrances, when subtly known, can be overcome by an opposing mental attitude. Their activities are to be done away with, through the meditation process.