Chapter-2. ( Samkya-yogam )
(One who has the self-control on his atma, then is free from like/desire/attachment/ dislike/hatred/detachment, next has his actions/activities under his control; with his sense-organs ....even though enjoying /experiencing sensuous objects, attains, the joy of peace ( blessing of the Lord ).
vidheyatma = one who has the self- control ( on his atma );
ragadveshaviyuktah = and who is free from like/desire/attachment/ dislike/hatred/detachment;
atmavasaiyah = and who has the actions/activities under his control over;
indriyaih = (his ) Sense-organs ( with them );
vishayanindriyaiscaran tu = ( but ) Even though enjoying /experiencing sensuous objects;
prasadamadhigacchati = …