Using your intellect to plan out an action, the fruits of which would benefit someone else, as was the case of the grandfather planting a tree that was enjoyed by future generations of his family, can be called buddhi yoga . In buddhi yoga , you inquire into the consequences of your actions, and thereby base your actions on the reasoning power of your intellect.
Intellect goes far beyond the narrow selfish considerations of the lower mind and the senses.
But even here there is still a tinge of selfishness. Such a high state is not easily accessible to ordinary people. But that does not mean that you should give up trying to attain it. With whole-hearted effort and with God's grace, seemingly impossible things can be achieved. If you persist in your efforts, then with practice you will be able to reach this high level of karma yoga in all your activities.