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

Bhagavad Gīta Bhāshya

ब्रह्मण्याधाय कर्माणि सङ्गं त्यक्त्वा करोति यः। लिप्यते न स पापेन पद्मपत्रमिवाम्भसा ॥१०॥

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.

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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