If we are all driven by our nature, do we have any choice? Kṛṣṇa answers here. While the senses are naturally attracted (‘rāga’) to some things and repelled (‘dveṣa’) by others, we must not come under their control. These dualities are the ‘paripanthinau’, or the stumbling blocks on the path. Nature provides the impulse, but we have the choice of whether to follow it. A person might feel an instinctive ‘rāga’ for junk food or an instinctive ‘dveṣa’ for a difficult person. These are natural material reactions. But the yogī observes the impulse and decides not to act on it if it is against his goal. Freedom is the space between the impulse and the action. Kṛṣṇa is telling Arjuna that while he may feel a natural ‘dveṣa’ (aversion) toward fighting his relatives, he should not be a slave to that feeling. He must use his higher intelligence to stay on the path of duty, regardless of his emotional impulses.