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

Meaning : When a person is not attached to sense objects or to actions, and has renounced all desires (intentions born of will), that person is said to be established in Yoga (i.e., has truly ascended to the state of Yoga).