The verse begins with "Yadā hi nendriyārtheṣu na karmasu anuṣajjate," which means that when a person does not get attached to sensory pleasures or external actions, they are not entangled in the cycle of karma. Sensory pleasures often lead to desires and attachment, which in turn bind individuals to the cycle of karma, causing them to experience the consequences of their actions. By remaining detached from these sensory attractions, one can attain a state of inner freedom and peace.

Next, Lord Krishna mentions "Sarva-saṅkalpa-saṁnyāsī," which refers to renouncing all desires or intentions. This involves letting go of the constant stream of desires and ambitions that arise in the mind, leading to a state of mental clarity and tranquility. When desires are renounced, the mind becomes free from distractions and is able to focus more fully on the path of yoga.

Finally, Krishna states that such a person is "yogārūḍhas," meaning established in yoga. Yoga here refers to union with the divine or the higher self. When one is established in yoga, they experience a deep sense of connection with the universe and recognize the underlying unity of all existence. This state of yoga is characterized by inner peace, contentment, and harmony.

Overall, this verse emphasizes the importance of detachment and renunciation in the practice of yoga. By letting go of attachment to sensory pleasures and desires, individuals can cultivate a state of inner freedom and establish themselves firmly on the path of spiritual growth and self-realization.