Sanskrit is quite a precise language, in pronunciation, in grammar and in meaning. If you would believe it, my clansman, another Aupmanyav (in the lineage of Sage Upamanyu) was among the first grammarians of Sanskrit, around about 1,000 BCE (https://en.wikipedia.org/wiki/Aupamanyava). Bias damages most translations. Check on this translation, simple, unadorned: https://www.hinduwebsite.com/chapters.asp Here is another: http://library.um.edu.mo/ebooks/b17771201.pdf And there is one which I have not dared to read. It is by Bal Gangadhar Tilak, one of the most famous freedom fighters of India, a mentor of Mahatma Gandhi, and the first to say in a British Court that "Indipendence is my birth-right and I will not rest untill I get it". He was put in Mandalay jail for six years and there he wrote this book, 600 pages, He was a theist, but I think his presentation will different. Of course, being an atheist, my take on BhagawadGita is completely different.