Nowadays, there is a tendency to claim any diligent worker is a "karma-yogi" and that karma yoga involves actions done without any expectation of fruits. Both are actually wrong assumptions.+
Firstly, karma yoga is an accessory to Brahma vidyA. Hence, shUdrAs are not eligible for it. So not everybody can be a "karma yogi". It is strictly traivarNika upAya.
Swami pillai Lokacharya summarizes the various activities that constitute karma yoga+
Many or most of these are not possible for shUdrAs or women as they lack eligibility. If a shUdra adheres to his dharma as service to bhagavAn, like dharmavyAdha, he is merely "sva-varNa-dharma-niShta" - it is conducive for a future birth where he becomes eligible for karma yoga+
Though "sva-varNa-dharma-anuShtAna" is a part of karma yoga, it is only so in the case of nitya-naimittika karmas of a Vedic nature. Karma yoga is also supported by aShtAnga yoga (yama, niyama etc.), as it has the goal of realizing the self. Which brings us to the 2nd issue+
Karma yoga is "desireless action" but not "purposeless action". "Not laying claim to fruits" does not mean doing meaningless work. There is a fruit -- the goal is to realize the self as distinct from the body and progress to meditation on the self+
The means to achieve this, is to dedicate all fruits to bhagavAn, ie, these works have a purpose of being used as services to please bhagavAn, to achieve one's desire of the self. It is not merely "do your duty, don't expect fruits". Fruit of bhagavad kripa is indeed expected+
So not everyone is a "karma yogi", karma yoga is not purposeless action and neither is karma yoga a practical upAya in kali yuga.//
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The satapatha brāhmaṇa has a section (7.5.1.1 onwards) where meditation on Kūrma is enjoined. Let me translate select portions of the section that are particularly interesting+
kūrmamupadadhāti | raso vai kūrmo rasamevaitadupadadhāti
[He yokes himself to the form of Kūrma by meditation. Brahman who is Kūrma is bliss, it is this bliss he bestows on meditator.]
Rasa = Bliss. One who mediates on Brahman as ground of bliss, is possessed of that bliss+
yo vai sa eṣāṃ lokānāmapsu praviddhānām parāṅraso 'tyakṣaratsa
[He (as the innerself) is indeed the bliss of these worlds filled with waters (pancabhūtās), unfavorable to the bound selves. He exceeds the reach of words.]
This has parallels with the Anandavalli of Tai.Up.+
In fact, that section of the MB, after showing pAncharAtra is alone adherent to the Veda, goes one step further and declares that yoga, sAnkhya and pAShupata are only as valid as they have nArAyaNa as their basis! Vide+
yathāgamaṃ yathā jñānaṃ niṣṭhā nārāyaṇaḥ prabhuḥ na cainam evaṃ jānanti tamo bhūtā viśāṃ pate+
[(In Yoga, sAnkhya and pAShupata), in accordance to tradition & aids to knowledge like logic, the ground or basis (for these systems) is the Supreme Lord, Nārāyaṇa. Those who are deluded by the darkness of ignorance brought on by beginningless karmas do not understand him]+
[He who is at the crest of the supreme abode (para), the mover (regulator) of samsAra (vyUha), who is the ruler of all (antaryAmin), the one born of his true resolve (vibhava), who leads those who practice yoga on him (archa). …]+
There are 3 sAma veda mantras drawn from Rg Veda, sixth mandala, seventh anuvAka. They are called “jyeShta sAmans” – the most principal sAmans. There is an interesting story behind this in tAndya brAhmaNa of Veda puruSha testing brahmA as below+
prajApatiH prajA asRRijata tA asmAt sRRiShTAH parAchya Ayan natsyati na iti bibhyatyaH
[prajApati created Rg, Yajus and Saman (prajAs). Upon being created, they became distant to him, as they feared he would eat them, ie, employ them without knowledge of Brahman as the end]+
brihadAraNyaka refers to the Rg, Yajus and Saman as offspring created by brahmA. So they are the “prajA” here. “Eating” refers to enjoying or experiencing. The Vedas wanted to test brahmA, to see if he had grasped their essence, so they hid themselves from him+
Wrt to jnAna and vairAgya being many/in plural, let me give you a small insight on the absolute brilliance of sri vaishnava AchAryAs. We will consider this invocatory stanza (thaniyan) of AchArya nAthamuni:
[Salutations to nAthamuni who is the treasure of both jnAna and vairAgya and the ocean of single minded devotion to bhagavAn.]+
Our AchAryAs while commenting on this shloka, ask a Q - "Why is he a treasure of jnAna and vairAgya? After all they are just 2 things while a treasure implies an abundance". The answer is that there are many things to develop jnAna about and many things to renounce (vairAgya)+