For when neither in the objects of the senses, nor in actions (karmasu) is he attached, Having renounced all selfish purposes (saṅkalpa), then he is said to have ascended to discipline (yogārūḍha).
He is said to be mature in discipline when he has renounced all intention and is detached from sense objects and actions.
(4) For when a man knows no attachment to objects of sense or to the deeds [he does], when he has renounced all purpose, then has he reached the state of integration, or so they say.
6.4 Verily, [Verily: This word emphasizes the fact that, since attachment to sense objects like sound etc. and to actions is an obstacle in the path of Yoga, therefore the removal of that obstruction is the means to its attainment.] when a man who has given up thought about everything does not get attached to sense-objects or actions, he is then said to be established in Yoga.
6.4 For, when one loses attachment for the things of the senses and to actions, then has the abandoned all desires and is said to have climbed the heights of Yoga.
6.4 When a man is not attached to the sense-objects or to actions, having renounced all thoughts, then he is said to have attained to Yoga.