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Bhagavad Gita 15.5

निर्मानमोहा जितसङ्गदोषा अध्यात्मनित्या विनिवृत्तकामाः। द्वन्द्वैर्विमुक्ताः सुखदुःखसंज्ञै र्गच्छन्त्यमूढाः पदमव्ययं तत्।।15.5।।

nirmānamohā jitasaṅgadoṣā adhyātmanityā vinivṛttakāmāḥ। dvandvairvimuktāḥ sukhaduḥkhasaṃjñai rgacchantyamūḍhāḥ padamavyayaṃ tat।।15.5।।

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निर्मानमोहाः (nirmāna-mohāḥ)
those free from pride and delusion
जितसङ्गदोषाः (jita-saṅga-doṣāḥ)
those who have conquered the evil of attachment
अध्यात्मनित्याः (adhyātma-nityāḥ)
those constantly devoted to the Self (spiritual knowledge)
विनिवृत्तकामाः (vinivṛtta-kāmāḥ)
those whose desires have completely ceased
द्वन्द्वैः (dvandvaiḥ)
from the dualities (pairs of opposites)
विमुक्ताः (vimuktāḥ)
liberated, freed
सुखदुःखसंज्ञैः (sukha-duḥkha-saṃjñaiḥ)
known as pleasure and pain
गच्छन्ति (gacchanti)
they go/attain
अमूढाः (amūḍhāḥ)
the undeluded ones
पदम् (padam)
the state/goal/abode
अव्ययम् (avyayam)
imperishable
तत् (tat)
that (supreme)

Commentary

Free from pride and delusion, with the evil of attachment conquered* ever dwelling in the Self, their desires having completely turned away, liberated from the pairs of opposites known as pleasure and pain, the undeluded reach that Goal Eternal.

Source: Alladi Mahadeva Sastri, The Bhagavad-Gita with the Commentary of Sri Shankaracharya (1897), public domain

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Sanskrit (in order)

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निर्मानमोहाः (nirmāna-mohāḥ)
जितसङ्गदोषाः (jita-saṅga-doṣāḥ)
अध्यात्मनित्याः (adhyātma-nityāḥ)
विनिवृत्तकामाः (vinivṛtta-kāmāḥ)
द्वन्द्वैः (dvandvaiḥ)
विमुक्ताः (vimuktāḥ)
सुखदुःखसंज्ञैः (sukha-duḥkha-saṃjñaiḥ)
गच्छन्ति (gacchanti)
अमूढाः (amūḍhāḥ)
पदम् (padam)
अव्ययम् (avyayam)
तत् (tat)

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