
Krishna describes the yogi's ability: one who is able (śaknoti) to withstand (soḍhum) the urge (vegam) born of desire and anger (kāma-krodhodbhavam) here itself (iha eva), before giving up the body (prāk śarīra-vimokṣaṇāt), is a yogi (sa yuktaḥ), and he is a happy person (sa sukhī naraḥ). This means the yogi doesn't wait for death to overcome desire and anger—they overcome them while living. The ability to withstand the impulses born of desire and anger is the mark of a yogi. This is the practical test of karma yoga—can you withstand the urges of desire and anger while performing your duties? If you can, you're a yogi and you're happy.
How this ancient wisdom applies to your daily life

This verse describes the yogi's ability: one who is able to withstand the urge born of desire and anger here itself, before giving up the body, is a yogi, and he is a happy person. The yogi doesn't wait for death to overcome desire and anger—they overcome them while living. The ability to withstand the impulses born of desire and anger is the mark of a yogi. This is the practical test of karma yoga—can you withstand the urges of desire and anger while performing your duties? If you can, you're a yogi and you're happy. You don't need to escape the world—you need to overcome desire and anger while living in it.

Are you able to withstand the urges of desire and anger while performing your duties? Or are you controlled by them? Where do desire and anger create impulses that control your actions?