Therefore, keeping away from delusional clinging, do well whatever comes to be done. He who acts without delusional clinging attains the Supreme.
Krishna extends the thread of discussion in verse 16, re- emphasizing how through dedicated activity a seeker can attain the supreme goal. You have to ensure that all you do becomes a wholesome yajna, and it does not fetch any kind of bondage.
So, drop all delusional clinging (sanga) from the mind. Have no reluctance at all in performing your actions. By this alone does the seeker attain the Supreme. It is important to note that this statement is singular and comprehensive in every way.
Gita is a book of sādhanā. It exhorts activity throughout. It shows no exclusive preference to meditative absorption, though Krishna explains meditation and its results.
The trouble is not in doing anything, but in fostering delusional clinging to it. Avoid it and perform all acts ceaselessly. It will bestow full freedom and joy.