driven by the impressions of the karma causative for the present birth
सिद्धःsiddhaḥ
The realised one
स्वयंsvayaṃ
by himself
वसतिvasati
stays
अत्र साक्षि–वत्atra sākṣi–vat
like a witness in the body
तूष्णींtūṣṇīṃ
merely
चक्रस्य मूलम् इवcakrasya mūlam iva
like the base (axle) of a wheel
कल्प–विकल्प–शून्यःkalpa–vikalpa–śūnyaḥ
devoid of any differentiation
Translation
The realised person, characterised by the quality of being the witness, neither directs the sense organs towards the sense objects nor withdraws from them. He does not desire the fruit of action even a little bit, as his mind is drunk deep in the nectar of the bliss of Brahman.
Annotation
The expression ‘upadarśana’ is used keeping in mind the expression upadraṣṭā in the Gita (13–22). The realised person, like Brahman, is a witness to all actions.