This shloka describes the marks of a true yogi. Established in Yoga, purified within, master of the mind, controller of the senses — such a person sees their own Self reflected in every living being.
And here is the most striking part: even while acting, such a person remains untouched by bondage. A lotus grows in muddy water, lives in water, yet not a single drop clings to its petals. The yogi lives in the world and works in it, yet stays free from its grip.