Raja yoga, also known as Ashtanga yoga or Patanjali's yoga, is divided into two parts - Bahiranga yoga (indirect path to liberation) and Antaranga yoga (direct path to liberation). Antaranga yoga consists of eight limbs - yama (social discipline), niyama (self-discipline), asana (postures), pranayama (breath control), pratyahara (sense withdrawal), dharana (concentration), dhyana (meditation), and samadhi (absorption). The yamas include non-violence, truthfulness, non-stealing, chastity, and non-possessiveness. The niy