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Conclusion: - मोक्ष-सन्न्यास योगः -The Perfection of Renunciation Arjuna asks Krishna about the purpose of tyaga (renunciation) and sannyasa (the renounced order of life). Krishna explains these and the five causes of action, the three factors that motivate action, and the three constituents of action. He also describes action, understanding, determination, happiness, and work according to each of the three modes of material nature. One attains perfection by doing one’s own work, not another’s, as prescribed duties are never affected by sinful reactions. Thus one should work as a matter of duty, without attachment or expectation of result. One should never give up one’s duty. The highest platform of self-realization is pure devotional service to Krishna. Accordingly, Krishna advises Arjuna to always depend on Him, work under His protection, and be conscious of Him. If Arjuna refuses to fight for Krishna, he will still be dragged into warfare as it is his nature as a ksatriya to fight. Nonetheless, he is free to decide what he wants to do. By Krishna’s grace, Arjuna’s illusion and doubt vanish, and he chooses to fight according to Krishna’s directions.