Bhagavad Gita 4.21

निराशीर्यतचित्तात्मा त्यक्तसर्वपरिग्रहः।शारीरं केवलं कर्म कुर्वन्नाप्नोति किल्बिषम्॥

nirāśīryatacittātmā tyaktasarvaparigrahaḥ |śārīraṃ kevalaṃ karma kurvannāpnoti kilbiṣam ||

Without hope, controlling the mind and the self, having abandoned all covetousness, and performing only bodily actions, one incurs no sin.

Expecting nothing, his mind and personality controlled, without greed, doing only bodily actions; though he acts, he remains untainted.

Our plain-language meaning of this verse is waiting for scholar review.