The Ten Commandments is the norm we have to understand sins. This is not a Commandment to restrict us. But it is a Law of Love from a loving father to safeguard His children from being lost.
God has created holy that is the image and likeness of God. In a person besides holiness anything is an addition. So sin is an addition in a person but not holiness.
In spite of our effort to be holy, we fail to do some good thing we desire that is sin. So we are not committing sin but we fail to do Holy Things.