When one is not attached to the objects of the senses nor to actions, and has renounced all selfish motivation, then one is said to be established in yoga.

Here the yogārūḍha is clearly defined: it is not absence of action, but absence of attachment. Neither to the indriyārtha (objects of senses) nor to the karma (actions) themselves.

The svārtha (selfish motivation, literally “what is for oneself”) must be abandoned. This is the heart of Karma Yoga: acting without the “I” as reference. When this occurs, even while acting intensely (kurvan api), there is no kilbiṣa — stain or negative consequence.