While performing the last rites of his mother (in the face of opposition from other Vedantins), Shankaracharya must have realized that some of the Vedantic messages were not practical . In 1823, Rammohun Roy was deeply hurt to see Vedantic scholars promoting escapism . In 1896, Swami Vivekananda gave talk on his vision of Practical Vedanta, to fulfil which he established, in 1897, Ramakrishna Mission as a non- political organization.