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

Bhagavad Gīta Bhāshya

brahmaṇyādhāya karmāṇi saṅgaṁ tyaktvā karoti yaḥ। lipyate na sa pāpena padmapatramivāmbhasā ॥10॥

One who performs actions, offering them to Brahman and giving up attachment, is not tainted by sin, just as a lotus leaf is not wetted by water.

The prescribed practice, i.e. renunciation along with Yōga, is a rule and is not just a superficial lip service.

saṁnyāsaYōgayukta eva ca karmaṇā na lipyata ityāha- brahmaṇi iti। sādhananiyamasya upacāratvanivr̥ttyarthaṁ punaḥpunaḥ phalakathanam ॥10॥

Indeed, the renunciation is to be practiced along with Yōga, and such actions don't get tainted with defects, is conveyed by 'brahmaṇi' verse. The prescribed practice, i.e. renunciation along with Yōga, is a rule and is not just a superficial lip service. Hence, repeatedly, its results are emphasized.

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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