3.20 कर्मणा by action, एव only, हि verily, संसिद्धिम् perfection, आस्थिताः attained, जनकादयः Janaka and others, लोकसंग्रहम् protection of the masses, एवापि only, संपश्यन् having in view, कर्तुम् to perform, अर्हसि thou shouldst.Commentary: Samsiddhi is Moksha (perfection or liberation). Janaka, (Asvapati) and others had perfect knowledge of the Self, and yet they performed actions in order to set an example to the masses. They worked for the guidance of men.