6.20-23  Yatra etc.  upto anirvinna-cetasa.  Where  the mind well restrained  remains iet :  i.e.,  on its  own accord.  Where he realises the limitless  Bliss :  Becuase the dirts  created by the sense-objects  are absent.   Any  other gain :  the gain obtained through the close contacts with wealth. wives, childeren etc.  The  idea is :  With regard to other objects, the notion of their being sources of  pleasure disappears;  and it is the nature of the thing in estion.  Not shaken much :  not shaken  to a great extent;  [hence]  there is yet [a little]  shaking in him,  purely due to [former]  mental impression;  and it  lasts  only  for a moment due to his compassion  [towards all creatures],  and not due to the wrong notions  like 'Alas !  I am undone !  What  is to done  by me.'  and  so on.  That,  due to which the cessation of contact with  misery results-that  must be yoked  i.e.,  practised  (concentrated upon)  by all means, with determination  i.e.,  with faith, born of the belief  [in the Self].  Of  undepressed mind.  i.e., because the goal has been reached. Or of  depressed  mind :  i.e., depressed that the birth-and-death-cycle is very  firm and is full of misery.						
 The means for abandoning desire is to abandon intention.  This (the Lord) says :