The path of Knowledge should be understood by employing great skill. Desires may or may not be obstructive.
They are not obstructions for one who gets them when they do not particularly like them or long for them. However, the one who has strong likes and dislikes and cravings, and then gets desires, becomes displaced from his True Nature (Swaroopa).
It is in this way that one takes oneself to be an individual (jiva), and is thereby deprived of the bliss of their True Nature.
"Amrut Laya" Part 2, Lecture 31