Tavayogi wrote in his book "Andamum Pindamum" that the idea in coming up with the Yoga of the Siddhas was to bring mankind to receive the full potential and power of and experience the Prapanjam and live a peaceful and blissful life. 

பிரபஞ்சத்தின் ஆற்றலை மனிதன் பெற்று மன நிம்மதியோடும் பேரானந்ததோடும் வாழ வேண்டும் என்பதற்காக ஏற்பட்டதே சித்தர்கள் கண்டுபிடித்த யோகம் 

He set out to first preach the path and later teach the method to attain the above state through his humble dwelling and ashram, the Agathiyar Gnana Peedham at Kallar. I was one soul who gained much from his acquaintance. My journey with him has been laid in these pages and the numerous posts in this blog. I am truly grateful to him for teaching me to shed everything I own and possess, both material and subtle in nature. When I parted with my last piece of the tiny crystal statue of Agathiyar that AVM made to commemorate the launch of the audio CD "Agathiyar Geetham" to be placed on the dashboard of a new car that a devotee bought, she was overwhelmed, I came to understand. I had shared my bliss in owning him by giving it to another. Similarly it gave me extreme bliss in passing his bronze statue at AVM to another devotee some time back. Both money and bliss have to be given away, just as Supramania Swami told me that even the merits gained from one's years of austerities or tavam have to be left behind with another. Again I was blessed to receive it from him. All these grace skyrocketed my journey. I am indebted to them for life.