tataḥ-dvandva-anabhigātaḥ [With this combination of relaxed concentration and meditation] pairs of opposites are no longer disturbing...

prayatna-śaithilya-ananta-samāpattibhyām Combining relaxed concentration and meditation on the qualities of Ananta This sūtra explains...

sthira-sukham-āsanam The posture is firm and comfortable. Patañjali talks here about āsana (posture), what is often all Yoga is...