Madhvacharya's Dvaita Vedanta and translation of Sarvamoola containing Bhagavad Gita, Upanishads, and Brahmasutra.

Bhagavad Gīta Bhāshya

B.G 4.20

त्यक्त्वा कर्मफलासङ्गं नित्यतृप्तोऽनिराश्रयः। कर्मण्यभिप्रवृत्तोऽपि नैव किञ्चित् करोति सः ॥२०॥

tyaktvā karmaphalāsaṅgaṁ nityatr̥pto'nirāśrayaḥ। karmaṇyabhipravr̥tto'pi naiva kiñcit karoti saḥ ॥20॥

Even though the person actively engages in action, he is considered as doing nothing if he has relinquished attachment to the results of the actions, is content all the time, and takes shelter from none.

Gīta Bhāshya 4.20

Taking up undertakings without desire is not sufficient. One must detach themselves. Such a person depends on none and is always content knowing the lord exists in him.

Just having the attitude of taking up undertakings without desire is not sufficient. One must detach themselves, i.e. abandon friendliness as well. By stating that "He always remains contented," the characteristics of knowledge are reiterated. "My essential form exists like that of the lord who is always content, and who depends on none" - in this manner.

बहुचित्रजगद्बहुधाकरणात् परशक्तिरनन्तगुणः परमः ।
सुखरूपममुष्य पदं परमं स्मरतस्तु भविष्यति तत्सततम् ॥
"The one who has created this variegated vast universe with varied forms has infinite power and is of infinite auspicious qualities. He certainly bestows the highest state of bliss to those who meditate on his ever happy essence." -Dwādasha stōtra 4.3

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