All actions are superfluous and yet ...

All actions are superfluous and yet they must be undertaken to purify the mind by one who has not yet given up every samkalpa, and who is yet bound by sense objects or karmas (thoughts).

Only a yogArUDha is free from karma. So perform action but surrender the fruits of action to the Lord. This is actor-less action or action-less action. This non-binding action is not productive of the ignorance of bondage. Thus these vAsanAs are termed bhoga hetuh and not bandha hetuh.

Arurukshor etc BG

YadA hi etc BG