Ramana Maharshi explains what is meant by desireless action

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A disciple once asked Bhagavan, who was then at Skandasramam, “What is meant by desireless action?”Bhagavan did not give a reply but kept quiet. A little later, he went out for a walk accompanied by the questioner and some others. Bhagavan saw a branch of a tree, cut it and spent one hour shaping it into a nice walking stick. At about that time, an elderly shepherd who had no walking stick came that way walking slowly and with difficulty. 

Bhagavan gave him the stick which he just made and said “Action is over so also desireless action” and thus showed by example what the phrase meant.Source: SRI RAMANA LEELA (A BIOGRAPHY OF BHAGAVAN SRI RAMANA MAHARSHI) 

Telugu original Sri Krishna Bhikshu Edited and Translated by Pingali Surya Sundaram

-- Om Namo Bhagavate Sri RamanayaPrasanth JalasutramLove And Love Alone