गतसङ्गां मतिं कुर्वन्कुर्वन्नप्यङ्गयष्टिभिः ।न लिप्यते सुखैर्दुःखैर्मनोरथदशास्विव
In plain words
Making the understanding go free of saṅga, even while acting with the limbs of the body, one is not tainted by pleasures or pains, just as in the states of a daydream.