Dedicating all actions to Brahman, the supreme Reality, he who acts, eschewing ‘delusional clinging’, is not tainted by evil, just as the lotus leaf, though growing in water, is untouched by it.
Identifying with the immovable Soul, and on that basis understanding the falsity (mithyātva) of actions, will make our life free of agitation and affectation. Spiritual wisdom is to make man inwardly full, content and stable.
True to this fact, Krishna presents various ways to actualize the same objective. Here he speaks of full dedication of all actions to Brahman, the supreme Reality. Thereby one should discard sanga, delusional clinging, the mind fosters to the actions and results thereof.
You can act effectively even without sanga. Sanga breeds tension, strong and unyielding. Freed of clinging, the mind becomes facile to act.
Nature displays instances to illustrate great principles and values. Lotus growing in the pond from slush is typical. Though its leaves float on water, they are not the least affected by it. The yogi should be untouched by the world, like the lotus, says Krishna!