Yoga-siddhi — The Mystic Perfections and Their Origin in Meditation on the Lord
यदा मन उपादाय यद् यद् रूपं बुभूषति । तत्तद् भवेन्मनोरूपं मद्योगबलमाश्रय: ॥ २२ ॥
yadā mana upādāya yad yad rūpaṁ bubhūṣati tat tad bhaven mano-rūpaṁ mad-yoga-balam āśrayaḥ
ヨーギーが心を用いてある特定の姿を望むとき、その姿はただちに心の形として現れる。この成就は、無量の姿を取る我の不可思議なヨーガの力に心を帰依し、そこに没入することによって可能となる。
This perfection is called kāma-rūpa, or the ability to assume any form that one desires, even the form of a demigod. The pure devotees absorb their minds in a particular type of service to Lord Kṛṣṇa and thus gradually assume a spiritual body for an eternal life of bliss and knowledge. Thus anyone who takes to the process of chanting the holy names of Kṛṣṇa and follows the regulative principles of human life can acquire the ultimate perfection of kāma-rūpa, assuming an eternal, spiritual body in the kingdom of God.
This verse says siddhis such as assuming desired forms arise when the yogī controls the mind and, crucially, takes shelter of the Lord’s own yoga-power (mad-yoga-bala), not merely personal effort.
In the Uddhava-gītā (Canto 11), Krishna instructs Uddhava on yoga and its perfections, clarifying that extraordinary abilities depend on divine sanction and should be understood in relation to the Lord’s potency.
Train the mind to become steady and purposeful, but remember that results ultimately depend on higher grace; use mental discipline for devotion and service rather than fascination with powers or egoic display.