यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते। सर्वसङ्कल्पसंन्यासी योगारूढस्तदोच्यते
yadā hi nendriyārtheṣhu na karmasv-anuṣhajjate sarva-saṅkalpa-sannyāsī yogārūḍhas tadochyate
When a man renounces even the thought of initiating action, and is not interested in sense objects or any results that may flow from his acts, then he truly understands spirituality.
Translated by Shri Purohit Swami
When a person is not attached to the sense-objects or to actions, having renounced all thoughts, then they are said to have attained Yoga.
Translated by Swami Sivananda
Word meanings (from the gita/gita dataset)
yadā—when; hi—certainly; na—not; indriya-artheṣhu—for sense-objects; na—not; karmasu—to actions; anuṣhajjate—is attachment; sarva-saṅkalpa—all desires for the fruits of actions; sanyāsī—renouncer; yoga-ārūḍhaḥ—elevated in the science of Yog; tadā—at that time; uchyate—is said