This poem, read by Steve Baker, is one of the Songs of Chögyam Trungpa from Rain of Wisdom.
The Rain of Wisdom was one of the first translation projects that Trungpa Rinpoche undertook with his group of student translators, later known as the Nalanda Translation Committee. Here is a link to Rinpoche’s foreword from the book, and an audio clip of Robin Kornman’s recollections of this early translation project.