Yoga is yoga in the broadest possible sense. Shankaracharya makes it clear that here yogi specifically means dhyayi or dhyayani, the one who is practicing meditation. Aparegraha means not accepting external possessions; objects is translated as destitute. The more you accept gifts from others, the more it tells on your mind.
Swami Sarvapriyananda teaches Chapter 6 (Verses 10-14) of the Bhagavad Gita. In this series of talks, Swami Sarvapriyananda unfolds the highest truths of Vedanta through the study of the Bhagavad Gita (The Song of God).