yadā - when; hi - certainly; na - not; indriya-artheṣu - sense gratification; na - not; karmasu - in activities; anuṣajjate - one becomes engaged; sarva - all kinds of; saṅkalpa - desires; sannyāsī - renouncing; yoga-ārūḍhaḥ - one who has actually attained perfection in the yoga system; tadā - at that time; ucyate - is said.

“ ‘When a person is no longer interested in acting for sense gratification and when he renounces all material desires, he is said to be situated in perfect yoga [yogārūḍha].’