During the period between the Mauryan and the Gupta eras (c. 200 BCE–500 CE) the Indic traditions of Hinduism, Buddhism and Jainism were taking form and coherent systems of yoga began to emerge.[49] This period witnessed many new texts from these traditions discussing and systematically compiling yoga methods and practices. Some key works of this era include the Yoga Sūtras of Patañjali, the Yoga-Yājñavalkya, the Yogācārabhūmi-Śāstra and the Visuddhimagga.

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Onesicritus also mentions his colleague Calanus trying to meet them, who is initially denied audience, but later invited because he was sent by a "king curious of wisdom and philosophy".[108] Onesicritus and Calanus learn that the yogins consider the best doctrine of life as "rid the spirit of not only pain, but also pleasure", that "man trains the body for toil in order that his opinions may be strengthened", that "there is no shame in life on frugal fare", and that "the best place to inhabit is one with scantiest equipment or outfit".[107][108] These principles are significant to the history of spiritual side of yoga.[107] These may reflect the ancient roots of "undisturbed calmness" and "mindfulness through balance" in later works of Hindu Patanjali and Buddhist Buddhaghosa respectively, states Charles Rockwell Lanman;[107] as well as the principle of Aparigraha (non-possessiveness, non-craving, simple living) and asceticism discussed in later Hinduism and Jainism.[citation needed]
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