Madhvacharya's Dvaita Vedanta and translation of Sarvamoola containing Bhagavad Gita, Upanishads, and Brahmasutra.

Bhagavad Gīta Bhāshya

yadā hi neṁdriyārtheṣu na karmasvanuṣajjate। sarvasaṅkalpasaṁnyāsī yogārūḍhastadocyate ॥4॥

When one does not take pleasure in sense objects, and is not performing actions driven by attachment, and has renounced all determinations driven by desires, then he is said to have ascended to the summit of Yoga.

Complete detachment is possible only after direct perception of the lord. Others have to strive diligently.

yogārūḍhasya lakṣaṇam āha - yadeti। samyagananuṣaṅgaḥ tastasyaiva bhavati। uktaṁ ca -

The characteristic of one who has reached the end objective in yoga is stated by 'yadā' verse. Only such a person can have complete detachment. It is said:

"svato doṣalayo dr̥ṣṭvātvitareṣāṁ prayatnataḥ।"

"For one who has seen (the supreme lord), the faults dissolve on its own, while for others through striving diligently."

- stated thus in the testimonials.

बहुचित्रजगद्बहुधाकरणात् परशक्तिरनन्तगुणः परमः ।
सुखरूपममुष्य पदं परमं स्मरतस्तु भविष्यति तत्सततम् ॥
"The one who has created this variegated vast universe with varied forms has infinite power and is of infinite auspicious qualities. He certainly bestows the highest state of bliss to those who meditate on his ever happy essence." -Dwādasha stōtra 4.3

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