यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते । सर्वसंकल्पसंन्यासी योगारूढस्तदोच्यते ॥
yadā hi nendriyārtheṣu na karmasvanusajjate | sarvasaṃkalpasannyāsī yogārūḍhastadocyate ||
Translation
When one neither clings to sense objects nor to actions, having renounced all selfish resolves — then that person is said to have ascended to yoga.
Interpretation
The state of yoga-arudha (fully established in yoga) is characterized by the absence of two kinds of clinging: to sense objects (the external world) and to actions themselves (even good deeds). The ego-self clings to pleasures and also clings to being the doer of virtuous acts. Both are released. This is sarvasankalpa-sannyasi — one who has renounced all ego-driven resolve. Only then is the ascent to yoga complete.