This last is acquired by those who are of pure acts and endued with tranquillity of soul, the means being the subjugation of those five obstacles of Yoga of which the learned speak.
तदेतदुपशान्तेन बोद्धव्यं शुचिकर्मणा। योगदोषान् समुच्छिद्य पञ्च यान् कवयो विदुः॥