Based on the source, what is Moksha and what are the main obstacles preventing people from attaining it?

Chapter 50 defines Moksha, or liberation, as 'abiding in one's own form.' It explicitly states there is no other liberation besides this. This state is achieved only when the knowledge of the unity of Brahman and the Soul arises, which in turn removes the 'causal body' of ignorance. The text identifies several key obstacles that prevent this realization. These are forms of Maya or Avidya, such as the deep-seated delusion of identifying with the physical body ('I am the body') and forming attachments ('mine are wife and home'). Furthermore, great pride, such as boasting of being 'skilled in scriptures' and unequaled in genius, is cited as a major cause for dissatisfaction and a significant barrier to true knowledge and liberation.