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.
sarva-saṅkalpa—all desires for the fruits of actions;
yoga-ārūḍhaḥ—elevated in the science of Yog;
tadā—at that time;