Bhagavad Gita Chapter 6, Verse 4

yadā hi nendriyārtheṣhu na karmasv-anuṣhajjate /
sarva-saṅkalpa-sannyāsī yogārūḍhas tadochyate ॥4॥

Meaning - When one is neither attached to sense objects nor to actions, such a person is said to be elevated in the science of Yog, having renounced all desires for the fruits of actions.

Sanskrit word Meaning in English:

indriya-artheṣhu—for sense-objects; 
karmasu—to actions; 
anuṣhajjate—is attachment; 
sarva-saṅkalpa—all desires for the fruits of actions; 
yoga-ārūḍhaḥ—elevated in the science of Yog; 
tadā—at that time; 
uchyate—is said

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