Krishna gives the clearest definition of 'yukta' in this verse. When the mind is fully restrained and comes to rest in the Self alone — not wandering to any object, not pulled by any craving — and when every desire has been released, then and only then is the person called yukta.
This is the destination that all the preparation has been leading toward. The clean seat, the straight posture, the balanced diet, the steady routine — they were all scaffolding. The building itself is this: the mind at home in the Self, wanting nothing.
A spinning top, when it reaches peak speed, appears perfectly still. All the momentum is there, but the wobble is gone. The yukta state is something like that — full aliveness, zero agitation. The Self becomes the only experience that matters.