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yoga yoga sutra patanjali upanishad eight limbs of yoga philosophy ashtanga yoga chakras yoga philosophy kundalini arjuna) dhyana dharana sense withdrawal ashtanga yoa krishna pratyahara message pranayama breathing definition gita sutra bhagavad introduction asana yoga sutra of patanjali kriya yoga karma klesha yoga sutras ysp isha ishavasyam three boons nachiketa kathopanishad veda katha nature of aum om mandukya three states deep sleep dream waking aum samyama samadhi