karoti

त्यक्त्वा कर्मफलासङ्गं नित्यतृप्तो निराश्रयः

karma-phala-āsaṅgam — attachment to the fruits of action

Having given up attachment to the fruit of action, always content, dependent on nothing, such a person does not accumulate even while fully engaged.

ब्रह्मण्याधाय कर्माणि सङ्गं त्यक्त्वा करोति यः

karmāṇi — all actions

One who acts having placed all actions in Brahman, having let go of attachment, is not stained by wrongdoing — as a lotus leaf is not wetted by water.

अनाश्रितः कर्मफलं कार्यं कर्म करोति यः

karma-phalam — results of actions

One who does the work that must be done without depending on its fruit — that one is both a renouncer and a practitioner of yoga; not the one who lights no fire and does nothing.

अनादित्वान्निर्गुणत्वात्परमात्मायमव्ययः

karoti — acts

Being without beginning and without the strands, this highest self does not perish. Though seated in the body, Arjuna, it does not act and is not stained.