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what is called yoga

What is the true meaning of yoga. I know its a set of ancient exercises. Whether it is linking with any philosophy ? What the indian vedas say about it ?
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The art of perfoming duties unaffected by success or failure is called yoga. The balance of the mind in these situations is a yoga.

We have to focus on consciousness on our duties to perform well. Even if you are atheist you agree this. People always dreaming about the fruitive results of the work can't concentrate on the duty. They can't tolerate a small failure and their mental strength break in such situations. Because their mind is totally felled on the outcomes of the work not on the work itself.
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