Verse 6.4

यदा हि नेन्द्रियार्थेषु न कर्मस्वनुषज्जते। सर्वसङ्कल्पसंन्यासी योगारूढस्तदोच्यते।।6.4।।

yadā hi nendriyārtheṣhu na karmasv-anuṣhajjate sarva-saṅkalpa-sannyāsī yogārūḍhas tadochyate

Meaning

When you're, like, totally unbothered by sensory stuff or actions, and you've, like, ditched all your thoughts, then you've hit peak Yoga.

Commentary

Okay, so like, when you're totally not obsessed with, like, sensory stuff or, like, doing stuff, and you've, like, let go of all your thoughts? Then, like, you've totally achieved Yoga. It's not about the sensory stuff, fam. The desires will, like, die on their own. How do you stop thinking about stuff? Think about God or your true self. Then you can, like, avoid thinking about the sensory stuff. Letting go of thoughts means letting go of all desires and actions, because, like, thoughts create desires. You think first, then you act to get what you want. If you don't want stuff, you won't do stuff to get it. Desire comes from thoughts. No thoughts, no desires. It's all connected, you know?