B.G 6.04

यदा हि नेंद्रियार्थेषु न कर्मस्वनुषज्जते। सर्वसङ्कल्पसंन्यासी योगारूढस्तदोच्यते ॥४॥

yadā hi neṁdriyārtheṣu na karmasvanuṣajjate। sarvasaṅkalpasaṁnyāsī yogārūḍhastadocyate ॥4॥

[यदा हि न इन्द्रियार्थेषु न कर्मसु अनुषज्जते। सर्वसङ्कल्प संन्यासी योगारूढः तदा उच्यते॥
यदा (yadā) - when; हि (hi) - indeed; न (na) - not; इन्द्रियार्थेषु (indriyārtheṣu) - in sense objects; न (na) - not; कर्मसु (karmasu) - in actions; अनुषज्जते (anuṣajjate) - is attached; सर्वसङ्कल्प (sarvasaṅkalpa) - all determinations driven by desires; संन्यासी (sannyāsī) - renouncer; योगारूढः (yogārūḍhaḥ) - ascended to the summit of Yoga; तदा (tadā) - then; उच्यते (ucyate) - is said;]

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.

Gīta Tātparya 6.04

The attachment is overcome by renouncing all determinations driven by desire. This is done by renouncing all actions in the Lord. The expression 'renouncing in the Lord' - is nothing but having the understanding that everything is dependent and controlled by the supreme Lord.

कथं नानुषज्यते। सर्वसङ्कल्पसंन्यासी।

kathaṁ nānuṣajyate। sarvasaṅkalpasaṁnyāsī।

[कथं (kathaṁ) - How; न (na) - not; अनुषज्यते (anuṣajyate) - is attached; सर्वसङ्कल्पसंन्यासी (sarvasaṅkalpasaṁnyāsī) - one who has renounced all determinations driven by desire;]

How is one not attached? By renouncing all determinations driven by desire.

"मयि सर्वाणि कर्माणि"

"mayi sarvāṇi karmāṇi"

[मयि (mayi) - in me; सर्वाणि (sarvāṇi) - all; कर्माणि (karmāṇi) - actions.]

"Dedicating all actions to Me" (Gita 3.30)

इत्युक्तत्वात्।

ityuktatvāt।

[इत्युक्तत्वात् (ityuktatvāt) - because it has been said so.]

- is already stated (at Gita 3.30).

"मदधीनमिदं ज्ञात्वा मत्संन्यासीति चोच्यते।"

"madadhīnamidaṁ jñātvā matsaṁnyāsīti cocyate।"

[मदधीनमिदं (madadhīnamidaṁ) - this is dependent and controlled by Me; ज्ञात्वा (jñātvā) - Understanding; मत्संन्यासीति (matsaṁnyāsīti) - in Me, renounce, thus; च (ca) - and; उच्यते (ucyate) - is said.]

"'Renouncing in Me' - is nothing but having the understanding that it is dependent and controlled by Me."

इति च ॥४॥

iti ca ॥4॥

[इति च - Thus ends;]

- stated thus as well.