List the eight limbs of aṣṭāṅga-yoga. (5.27-28)

aṣṭāṅga-yoga, is divisible into an eightfold procedure called yama, niyama, āsana, prāṇāyāma, pratyāhāra, dhāraṇā, dhyāna and samādhi.

स्पर्शान्कृत्वा बहिर्बाह्यांश्चक्षुश्चैवान्तरे भ्रुवो: ।
प्राणापानौ समौ कृत्वा नासाभ्यन्तरचारिणौ ॥ २७ ॥
यतेन्द्रियमनोबुद्धिर्मुनिर्मोक्षपरायण: ।
विगतेच्छाभयक्रोधो य: सदा मुक्त एव स: ॥ २८ ॥

sparśān kṛtvā bahir bāhyāṁś cakṣuś caivāntare bhruvoḥ
prāṇāpānau samau kṛtvā nāsābhyantara-cāriṇau
yatendriya-mano-buddhir munir mokṣa-parāyaṇaḥ
vigatecchā-bhaya-krodho yaḥ sadā mukta eva saḥ

Synonyms

sparśān — sense objects, such as sound; kṛtvā — keeping; bahiḥ — external; bāhyān — unnecessary; cakṣuḥ — eyes; ca — also; eva — certainly; antare — between; bhruvoḥ — the eyebrows; prāṇa-apānau — up- and down-moving air; samau — in suspension; kṛtvā — keeping; nāsa-abhyantara — within the nostrils; cāriṇau — blowing; yata — controlled; indriya — senses; manaḥ — mind; buddhiḥ — intelligence; muniḥ — the transcendentalist; mokṣa — for liberation; parāyaṇaḥ — being so destined; vigata — having discarded; icchā — wishes; bhaya — fear; krodhaḥ — anger; yaḥ — one who; sadā — always; muktaḥ — liberated; eva — certainly; saḥ — he is.

Translation

Shutting out all external sense objects, keeping the eyes and vision concentrated between the two eyebrows, suspending the inward and outward breaths within the nostrils, and thus controlling the mind, senses and intelligence, the transcendentalist aiming at liberation becomes free from desire, fear and anger. One who is always in this state is certainly liberated.

Purport

Being engaged in Kṛṣṇa consciousness, one can immediately understand one’s spiritual identity, and then one can understand the Supreme Lord by means of devotional service. When one is well situated in devotional service, one comes to the transcendental position, qualified to feel the presence of the Lord in the sphere of one’s activity. This particular position is called liberation in the Supreme.

After explaining the above principles of liberation in the Supreme, the Lord gives instruction to Arjuna as to how one can come to that position by the practice of the mysticism or yoga known as aṣṭāṅga-yoga, which is divisible into an eightfold procedure called yama, niyama, āsana, prāṇāyāma, pratyāhāra, dhāraṇā, dhyāna and samādhi. In the Sixth Chapter the subject of yoga is explicitly detailed, and at the end of the Fifth it is only preliminarily explained. One has to drive out the sense objects such as sound, touch, form, taste and smell by the pratyāhāra process in yoga, and then keep the vision of the eyes between the two eyebrows and concentrate on the tip of the nose with half-closed lids. There is no benefit in closing the eyes altogether, because then there is every chance of falling asleep. Nor is there benefit in opening the eyes completely, because then there is the hazard of being attracted by sense objects. The breathing movement is restrained within the nostrils by neutralizing the up-moving and down-moving air within the body. By practice of such yoga one is able to gain control over the senses, refrain from outward sense objects, and thus prepare oneself for liberation in the Supreme.

This yoga process helps one become free from all kinds of fear and anger and thus feel the presence of the Supersoul in the transcendental situation. In other words, Kṛṣṇa consciousness is the easiest process of executing yoga principles. This will be thoroughly explained in the next chapter. A Kṛṣṇa conscious person, however, being always engaged in devotional service, does not risk losing his senses to some other engagement. This is a better way of controlling the senses than by aṣṭāṅga-yoga.

Bhagavad-gītā As It Is 5.27-28

Give the English meaning of the phrase paṇḍitāḥ sama-darśinaḥ. (5.18)

paṇḍitāḥ — those who are wise; sama-darśinaḥ — who see with equal vision.

विद्याविनयसम्पन्ने ब्राह्मणे गवि हस्तिनि ।
श‍ुनि चैव श्वपाके च पण्डिता: समदर्शिन: ॥ १८ ॥

vidyā-vinaya-sampanne brāhmaṇe gavi hastini
śuni caiva śva-pāke ca paṇḍitāḥ sama-darśinaḥ

Synonyms

vidyā — with education; vinaya — and gentleness; sampanne — fully equipped; brāhmaṇe — in the brāhmaṇa; gavi — in the cow; hastini — in the elephant; śuni — in the dog; ca — and; eva — certainly; śva-pāke — in the dog-eater (the outcaste); ca — respectively; paṇḍitāḥ — those who are wise; sama-darśinaḥ — who see with equal vision.

Translation

The humble sages, by virtue of true knowledge, see with equal vision a learned and gentle brāhmaṇa, a cow, an elephant, a dog and a dog-eater [outcaste].

Purport

A Kṛṣṇa conscious person does not make any distinction between species or castes. The brāhmaṇa and the outcaste may be different from the social point of view, or a dog, a cow and an elephant may be different from the point of view of species, but these differences of body are meaningless from the viewpoint of a learned transcendentalist. This is due to their relationship to the Supreme, for the Supreme Lord, by His plenary portion as Paramātmā, is present in everyone’s heart. Such an understanding of the Supreme is real knowledge. As far as the bodies are concerned in different castes or different species of life, the Lord is equally kind to everyone because He treats every living being as a friend yet maintains Himself as Paramātmā regardless of the circumstances of the living entities. The Lord as Paramātmā is present both in the outcaste and in the brāhmaṇa, although the body of a brāhmaṇa and that of an outcaste are not the same. The bodies are material productions of different modes of material nature, but the soul and the Supersoul within the body are of the same spiritual quality. The similarity in the quality of the soul and the Supersoul, however, does not make them equal in quantity, for the individual soul is present only in that particular body whereas the Paramātmā is present in each and every body. A Kṛṣṇa conscious person has full knowledge of this, and therefore he is truly learned and has equal vision. The similar characteristics of the soul and Supersoul are that they are both conscious, eternal and blissful. But the difference is that the individual soul is conscious within the limited jurisdiction of the body whereas the Supersoul is conscious of all bodies. The Supersoul is present in all bodies without distinction.

Bhagavad-gītā As It Is 5.18