BhG 5.7

syntax

yoga-yuktaḥ (engaged in yoga) viśuddhātmā (whose self is purified) vijitātmā (whose self is conquered) jitendriyaḥ (who conquered the senses) sarva-bhūtātma-bhūtātmā (whose self became the self of all creatures)
[saḥ puruṣaḥ] (such a person) kurvan api (although working) na lipyate (he is not stained).

grammar

yoga-yuktaḥ	–	yoga-yukta 1n.1 m.; TP: yogena yuktaḥ iti – engaged in yoga (from: √yuj – to yoke, to join, to engage, yoga – yoga, yoking, application, a means, one of the schools of Hindu philosophy, PP yukta – yoked, endowed with);
viśuddhātmā	–	viśuddha-ātman 1n.1 m.; BV: yasyātmā viśuddho ‘sti saḥ – whose self is purified (from: vi-√śudh – to become pure, PP viśuddha – purified, cleansed; ātman – self);
vijitātmā	–	vijita-ātman 1n.1 m.; BV: yasyātmā vijito ‘sti saḥ – whose self is conquered (from: vi-√ji – to conquer, PP vi-jita – conquered, defeated; ātman – self);
jitendriyaḥ	–	jita-indriya 1n.1 m.; BV: yenendriyāṇi jitāni santi saḥ – who conquered his senses (from: √ji – to conquer, PP jita – conquered; √ind – to be powerful; indriya – the senses);
sarva-bhūtātma-bhūtātmā	–	sarva-bhūta-ātma-bhūta-ātman 1n.1 m.; BV: yasya ātmā sarveṣāṁ bhūtānāṁ ātma-bhūto ‘sti saḥ – whose self became the self of all creatures (from: sarva – all, whole; √bhū – to be, PP bhūta – been, real, world; ātman – self);
kurvan	–	kurvant (√kṛ – to do) PPr 1n.1 m. – [while] doing, [while] working;
api	–	av. – although, moreover, besides, even;
na	–	av. – not;
lipyate	–	√lip (to smear, to anoint, to stain, to stick) Praes. pass. 1v.1 – he is smeared, he is stained;

textual variants

vijitātmā → saṁyatātmā (whose self is restrained);
kurvann api → kurvan vāpi / kurvaṇo ‘pi (or even [while] working / even of one who is performing);

Śāṃkara

yadā punar ayaṃ samyag-darśana-prāpty-upāyatvena—

yogena yukto yoga-yukto viśuddhātmā viśuddha-sattvo vijitātmā vijita-deho jitendriyaś ca sarva-bhūtātma-bhūtātmā sarveṣāṃ brahmādīnāṃ stamba-paryantānāṃ bhūtānām ātma-bhūta ātmā pratyak-cetano yasya sa sarva-bhūtātma-bhūtātmā samyag-darśīty arthaḥ | sa tatraivaṃ vartamāno loka-saṃgrahāya karma kurvann api na lipyate na karmabhir badhyate ity arthaḥ

Rāmānuja

karmayogayuktas tu śāstrīye paramapuruṣārādhanarūpe viśuddhe karmaṇi vartamānaḥ tena viśuddhamanāḥ vijitātmā svābhyaste te karmaṇi vyāpṛtamanastvena sukhena vijitamanāḥ , tata eva jitendiyaḥ kartur ātmano yāthātmyānusandhānaniṣṭhatayā sarvabhūtātmabhūtātmā sarveṣāṃ devādibhūtānām ātmabhūta ātmā yasyāsau sarvabhūtātmabhūtātmā / ātmayāthātmyam anusandhānasya hi devādīnāṃ svasya caikākāra ātmā; devādibhedānāṃ prakṛtipariṇāmaviśeṣarūpatayātmākāratvāsaṃbhavāt / prakṛtiviyuktaḥ sarvatra devādideheṣu jñānaikākāratayā samānākāra iti „nirdoṣaṃ hi samaṃ brahma” iti anantaram eva vakṣyate / sa evaṃbhūtaḥ karma kurvann api anātmany ātmābhimānena na lipyate na saṃbadhyate / ato ‚cireṇātmānaṃ prāpnotītyarthaḥ

Śrīdhara

karma-yogādi-krameṇa brahmādhigame saty api tad-uparitanena karmaṇā bandhaḥ syād evety āśaṅkyāha yoga-yukta iti | yogena yuktaḥ | ataeva viśuddha ātmā cittaṃ yasya saḥ | ataeva vijita ātmā śarīraṃ yena | ataeva jitānīndriyāṇi yena | tataś ca sarveṣāṃ bhūtānām ātma-bhūta ātmā yasya sa loka-saṅgrahārthaṃ svābhāvikaṃ vā karma kurvann api na lipyate

Madhusūdana

nanu karmaṇo bandha-hetutvād yoga-yukto munir brahmādhigacchatīty anupapannam ity ata āha yoga-yukta iti | bhagavad-arpaṇa-phalābhisandhi-rāhityādi-guṇa-yuktaṃ śāstrīyaṃ karma yoga ity ucyate | tena yogena yuktaḥ puruṣaḥ prathamaṃ viśuddhātmā viśuddho rajas-tamo-bhyām akaluṣita ātmāntaḥkaraṇa-rūpaṃ sattvaṃ yasya sa tathā | nirmalāntaḥ-karaṇaḥ san vijitātmā sva-vaśīkṛta-dehaḥ | tato jitendriyaḥ sva-vaśīkṛta-sarva-bāhyendriyaḥ | etena manūktas tridaṇḍī kathitaḥ –

vāg-daṇḍo ‚tha mano-daṇḍaḥ kāya-daṇḍas tathaiva ca |
yasyaite nityatā daṇḍāḥ sa tridaṇḍīti kathyata || iti |

vāg iti bāhyendriyopalakṣaṇam | etādṛśasya tattva-jñānam avaśyaṃ bhavatīty āha sarva-bhūtātma-bhūtātmā sarva-bhūta ātma-bhūtaś cātmā svarūpaṃ yasya sa tathā | jaḍājaḍātmakaṃ sarva ātma-mātraṃ paśyann ity arthaḥ | sarveṣāṃ bhūtānām ātma-bhūta ātmā yasyeti vyākhyāne tu sarva-bhūtātmety etāvataivārtah-lābhād ātma-bhūtety adhikaṃ syāt | sarvātma-padayor jaḍājaḍa-paratve tu samañjasam | etādṛśaḥ paramārtha-darśī kurvann api karmāṇi para-dṛṣṭyā na lipyate taiḥ karmabhiḥ sva-dṛṣṭyā tad-abhāvād ity arthaḥ

Viśvanātha

kṛtenāpi karmaṇā jñāninas tasya na lepa ity āha yogeti | yoga-yukto jñānī trividhaḥ – viśuddhātmā vijita-buddhir ekaḥ | vijitātmā viśuddha-citto dvitīyaḥ | jitendriyas tṛtīya iti | pūrva-pūrveṣāṃ sādhana-tāratamyād utkarṣaḥ | etādṛśe gṛhasthe tu sarve ‚pi jīvā anurajyantīty āha sarveṣām api bhūtānām ātma-bhūtaḥ premāspadībhūta ātmā deho yasya saḥ

Baladeva

īdṛśī mumukṣuḥ sarveṣāṃ preyān ity āha yogeti | yoge niṣkāme karmaṇi yukto nirataḥ | ataeva viśuddhātmā nirmala-buddhiḥ | ataeva vijitātmā vaśīkṛta-manāḥ | ataeva jitendriyaḥ śabdādi-viṣaya-rāga-śūnyaḥ | ataeva sarveṣāṃ bhūtānāṃ jīvānām ātma-bhūtaḥ premāspadatām gata ātmā deho yasya saḥ | na cātra pārtha-sārathinā sarvātmaikyam abhimatam – na tv evāham ity ādinā sarvātmanāṃ mitho bhedasya tenābhidhānāt | tad-vādināpi vijñājñābhedasya vaktum aśaktyatvāc ca | evambhūtaḥ kurvann api viviktātmānusandhānād anātmany ātmābhimānena na lipyate acireṇātmānam adhigacchati | ataḥ karma-yogaḥ śreyān