who are desirous of the success of action worship the gods, for in this world of men success resulting from action is soon attained.  The quadruple division of castes was created by me according to the distinction of qualities and duties.  Though I am the author thereof, (yet) know me to be not their author and undecaying.[170] Actions do not touch me.  I have no longing for the fruits of actions.  He that knoweth me thus is not impeded by actions.  Knowing this, even men of old who were desirous of emancipation performed work.  Therefore, do thou also perform work as was done by ancients of the remote past.  What is action and what is inaction,—­even the learned are perplexed at this.  Therefore, I will tell thee about action (so that) knowing it thou mayst be freed from evil.  One should have knowledge of action, and one should have knowledge of forbidden actions:  one should also know of inaction.  The course of action is incomprehensible.  He, who sees inaction in action and action in inaction, is wise among men; he is possessed of devotion; and he is a doer of all actions.  The learned call him wise whose efforts are all free from desire (of fruit) and (consequent) will, and whose actions have all been consumed by the fire of knowledge.[171] Whoever, resigning all attachment to the fruit of action, is ever contented and is dependent on none, doth nought, indeed, although engaged in action.  He who, without desire, with mind and the senses under control, and casting off all concerns, performeth action only for the preservation of the body, incurreth no sin.[172] He who is contented with what is earned without exertion, who hath risen superior to the pairs of opposites, who is without jealousy, who is equable in success and failure, is not fettered (by action) even though he works.  All his actions perish who acts for the sake of sacrifice,[173] who is without affections, who is free (from attachments), and whose mind is fixed upon knowledge.  Brahma is the vessel (with which the libation is poured); Brahma is the libation (that is offered); Brahma is the fire on which by Brahma is poured (the libation); Brahma is the goal to which he proceedeth by fixing his mind on Brahma itself which is the action.[174] Some devotees perform sacrifice to the gods.  Others, by means of sacrifice, offer up sacrifices to the fire of Brahma.[175] Others offer up (as sacrificial libation) the senses of which hearing is the first to the fire of restraint.  Others (again) offer up (as libations) the objects of sense of which sound is the first to the fire of the senses.[176] Others (again) offer up all the functions of the senses and the functions of the vital winds to the fire of devotion by self-restraint kindled by knowledge.[177] Others again perform the sacrifice of wealth, the sacrifice of ascetic austerities, the sacrifice of meditation, the sacrifice of (Vedic) study, the sacrifice of knowledge, and others are ascetics of rigid vows.[178] Some offer up the upward vital