Gita 04.19 explained
yasya sarve samārambhāḥ
tam āhuḥ paṇḍitaṁ budhāḥ
yasya — one whose; sarve — all sorts of; samārambhāḥ — attempts; kāma — based on desire for sense gratiﬁcation; saṅkalpa — determination; varjitāḥ — are devoid of; jñāna — of perfect knowledge; agni — by the ﬁre; dagdha — burned; karmāṇam — whose work; tam — him; āhuḥ — declare; paṇḍitam — learned; budhāḥ — those who know.
One is understood to be in full knowledge whose every endeavor is devoid of desire for sense gratiﬁcation. He is said by sages to be a worker for whom the reactions of work have been burned up by the ﬁre of perfect knowledge.
The call is to work selflessly for a higher motive in life. We will not act if there is no desire but here Krishna is talking specifically about lust and generically selfish desire.
If you wanted to renounce, renounce meticulously but do not renounce action renounce selfishness.