Srimad Bhagavad Gita -Ramanujacharya 168

Srimad Bhagavad Gita -Ramanujacharya

Chapter-5 Karma Sanyāsa Yogaḥ

yoga-yukto viśuddh-ātmā vijitātmā jitendriyaḥ | sarva-bhūtātmā bhūtātmā kurvann-api na lipyate || 7 || 7. One who is devoted to the path of Action and is pure of mind, who is self-control, has conquered the senses and has realized identity with all beings, even while acting, remains untainted. Commentary A Karma Yogi remains engaged in the performance of pure actions prescribed by the Shastras, which are done as service to the Supreme Being. By doing this, one becomes mentally pure and is able to control the mind easily. Because the mind is engaged in the performance of virtuous actions the senses are easily subdued. Once one realizes the true nature of the ātman, one finds a common identity with all beings such as gods, humans and animals etc. One who contemplates on the true nature of the ātman understands that all ātmans are of the same essence. The differences between sentient beings do not pertain to the essential nature of the ātman, because those distinctions are based on particular modifications of Material Nature (Prakrti) which constitute their physical circumstances. The gist of this is that when dissociated from the physical body, the ātman is of the same essence in all beings; gods, humans and animals. It is of the same form of consciousness. One who has attained enlightenment, active though he may be, is not tainted [by karma] on account of erroneously identifying the body as the Self.