5.7-11 Yogayuktah etc. upto  atma-siddhaye.  He, whose  (by whom)  Self is  [realised to be]  the Self of all beings, is not stained,  eventhough he performs all  [sorts of]  actions.   For, he has undertaken neither what is enjoined nor what is prohibited.   Hence,  even while performing actions such as seeing and the like, he bears in mind, -i.e., he resolves with [all]  firmness of observation, - that 'If the sense-organs like eyes etc., function on their respective objects, what does it matter for me ?  Indeed one is not stained by what another does'.  This act is nothing but dedicating one's actions to the Brahman.  In this regard the characteristic mark is his detachment.  Due to that he is not stained.  Because they do not have attachment,  the men of Yoga perform  actions only with their body etc.,  that are freed from attachment and do not depend on each other.