yoga-yukto viśhuddhātmā vijitātmā jitendriyaḥ
sarva-bhūtātma-bhūtātmā kurvann api na lipyate||7||

Meaning : The person who is united with yoga, whose soul is pure and who has mastered the self and senses, perceives the same self in all beings. Even while performing actions, such a person remains untouched or unaffected by any sin, bondage, or impurity.