6:4  

यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते ।
सर्वसंकल्पसंन्यासी योगारूढस्तदोच्यते ॥६- ४॥

yadaa hi nendriyaartheShu na karmaswanuShajjate ।

sarwasaMkalpasaMnyaasii yogaarooDhastadochyate ॥६- ४॥

Source: Automatic ITRANS Transliteration

When not immersed in sense objects, nor in action,
Then the renunciant of all material desires is said to have attained yoga.

Source: Milind S. Pandit

A person is said to have attained yogic perfection when there is no desire for sensual pleasures, or attachment to the fruits of work, and has renounced all personal selfish motives.

Source: The Bhagavad-Gita: The Sacred Song

A person is said to be have attained to yoga when, having renounced all material desires, he neither acts for sense gratification nor engages in fruitive activities.

Source: Bhagavad Gita As It Is