The Environment Envir. The Lord describes the nature of a man with firm wisdom.
Yoga is skill in action.
A knowledgable man seeking liberation only accepts that much extent from the Vedas that meets his purpose of salvation. If you like these articles, there are more articles available. If you like these, there are more discussions available. The Bhagavad Gita is well categorized into numerous sections and detailed interpretation is provided. It contains links to other resources on Gita and numerous essays and commentaries.