Krishna addresses Arjuna directly: Paandava, what people call sannyasa — understand it as yoga. There is no gap between the two. The real meaning of sannyasa is dropping sankalpa — the inner resolves of 'I want this, I must have that.'
Someone might wear ochre robes, carry a staff, and look every bit the renunciant. But if the mind is still running a ledger of desires — what it wants, what it expects, what it feels owed — that person has not entered yoga. The outward appearance means nothing without the inward shift.
This verse is a gentle warning against spiritual performance. Yoga does not begin with costume changes. It begins when the mind stops bargaining with the future.