Bhagavad Gita · Chapter 6: The Path of Meditation

Bhagavad Gita 6.4

yadā hi nendriyārtheṣu na karmasvanuṣajjate | sarvasaṅkalpasaṃnyāsī yogārūḍhastadocyate ||

When a person is attached neither to sense objects nor to actions, and has given up all selfish intentions, that person is said to be established in yoga.

Modern context

How does one know the summit has been reached? Three signs are given. One is not hooked by sense objects. One is not hooked by activity itself. And the inner scheming has stopped. The second sign is easy to overlook. Some people are not attached to pleasures and are deeply attached to being busy, productive or needed. That too is a hook, and the established yogi is free of it.