yad asaṅgas tu kṛtsnaśaḥ

etavan-of such a measure; eva-just; yogena-by yoga practice; samagrena-all; iha-in this world; yoginah-of the yogi; yujyate-is achieved; abhimatah-desired; hi-certainly; arthah-purpose; yat-which; asaṅgah-detachment; tu-indeed; krtsnasah-completely.