To comprehend an idea, a person must simultaneously accept it as true. Conscious analysis - which, depending on the idea, may occur almost immediately or with considerable effort - allows the mind to reject what it intially accepted as fact.
Desire nothing for yourself, which you do not desire for others.
Care of the poor is incumbent on society as a whole.
I can control my passions and emotions if I can understand their nature
.... we are a part of nature as a whole, whose order we follow.
Desire is the essence of a man.