Yoga is 99% practice and 1% theory.
Yoga is an internal practice. The rest is just a circus.
The full ashtanga system practiced with devotion leads to freedom within one's heart.
Do your practice and all is coming.
Yoga is your mind control capacity.
It is very important to understand yoga philosophy: without philosophy, practice is not good, and yoga practice is the starting place for yoga philosophy. Mixing both is actually the best.