nirāśhīr yata-chittātmā tyakta-sarva-parigrahaḥ
śhārīraṁ kevalaṁ karma kurvan nāpnoti kilbiṣham||21||

Meaning : If someone is free from selfish desires, controls their mind, and gives up attachment to material things, then even though they act with their body, they do not create bad karma or sin. Their actions are pure because they are performed without attachment and selfish motives.