Dharma Dharma is subtle, many times, we are forced to take wrong means for right means(and ends us like Arjuna in hell) or reach wrong ends following right means(like Yudhishthira in exile). Sva-dharma asks for a man to carry friendly but reciprocal altruism, that is, a cautious face towards the world, while sadharana dharma asks for a non-reaction even to injustice( anyaya) Krishna teaches Nishkaama Karma[“be intent on the action and not on the fruits of the action”] to Arjuna, which is the central idea of Karma Yoga.