Verse 6.36

असंयतात्मना योगो दुष्प्राप इति मे मतिः। वश्यात्मना तु यतता शक्योऽवाप्तुमुपायतः।।6.36।।

asaṅyatātmanā yogo duṣhprāpa iti me matiḥ vaśhyātmanā tu yatatā śhakyo ’vāptum upāyataḥ

Meaning

No cap, Yoga's hard af to achieve if you're all over the place, but if you're disciplined and really trying, you can totally slay it with the right methods.

Commentary

Uncontrolled self? No cap, that's someone who hasn't, like, totally mastered their mind and senses through mad meditation and chill vibes. Self-controlled? That's someone who's, like, totally zen, all mind-over-matter. They can def achieve self-realization if they use the right methods and put in the effort.