Krishna transitions into describing the anatomy of how an action actually takes place. He divides it into two phases: the psychological motivation and the physical execution. The motivation for action (karma-codanā) has three parts: jñānam (knowledge/inspiration), jñeyam (the objective/goal), and parijñātā (the knower/the person experiencing the desire). The actual physical execution or constituents of the action (karma-saṅgrahaḥ) also consist of three parts: karaṇam (the instruments/senses), karma (the work/process), and kartā (the doer/worker).