This document discusses different types and philosophies of yoga. It begins by explaining that yoga originated from Shiva and aims to unite the physical, mental, and spiritual aspects of a person. It then summarizes six major branches of yoga - Karma yoga of selfless service, Bhakti yoga of devotion, Gyana yoga of knowledge, Hatha yoga of physical postures, Raja yoga of self-control, and Tantra yoga of rituals. Finally, it provides details on the eight limbs of Raja yoga as described by Patanjali, including yama, niyama, asana, pranayama, pratyahara, dharana, dhyana, and samadhi
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