Bhagavad Gita Chapter 6, Verse 4

यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते | सर्वसङ्कल्पसंन्यासी योगारूढस्तदोच्यते ||

yadā hi nendriyārtheṣu na karmasv anuṣajjate sarva-saṅkalpa-saṁnyāsī yogārūḍhas tadocyate

When one does not become attached to sense objects or to actions, having renounced all desires, then one is said to have attained yoga.

Krishna describes the state of one who has attained yoga. 'Yadā hi nendriyārtheṣu na karmasv anuṣajjate'—when one does not become attached (anuṣajjate) to sense objects (indriya-artheṣu) or to actions (karmasu). This means: the yogi interacts with sense objects and performs actions, but they don't become attached. They experience, they act, but they remain free. 'Sarva-saṅkalpa-saṁnyāsī'—having renounced all desires (sarva-saṅkalpa). This means: not just some desires, but all desires—all attachments to outcomes, all dependencies on results. 'Yogārūḍhas tadā ucyate'—then one is said to have attained yoga (yogārūḍha). This is the culmination: when you're no longer attached to sense objects or actions, when you've renounced all desires, you've reached the heights of yoga. You can be fully engaged in the world, but you're free from attachment to it.