Kṛṣṇa explains how a person can survive in the world without being destroyed by it. The secret is to be free from both ‘rāga’ (attachment/wanting) and ‘dveṣa’ (aversion/hating). A person who can control their senses and follow regulated principles can interact with the world and still receive divine mercy. You don’t have to hide in a cave to be holy. You can walk through the bazaar of life, using what is necessary for your duty, as long as you are not a slave to your likes and dislikes. This is ‘regulated freedom’. The senses are used, but they are under the control of the soul. By living this way, one attains ‘prasādam’, a state of inner grace and peace. You are in the world, but the world is not in you. This balanced approach allows Arjuna to fight the war as a duty without being consumed by either the desire to win or the hatred of the enemy.