The condition for rotational equilibrium of a rigid body is given by:
As per the NCERT text: '(2) The total torque, i.e. the vector sum of the torques on the rigid body is zero, $\sum \vec{\tau_i} = 0$.' This is the condition for rotational equilibrium. If the total torque on the rigid body is zero, the total angular momentum of the body does not change with time.