Bhagavad Gita Chapter 6.4
yadā hi nendriyārtheṣu
na karmasv anuṣajjate
sarva-sańkalpa-sannyāsī
yogārūḍhas tadocyate
Translation
A person is said to be elevated in yoga when, having renounced all material desires, he neither acts for sense gratification nor engages in fruitive activities.