Best translation of Srimad Bhagvad Gita that I've ever come across is that by Sir Edwin Arnold. Not just because it is a lyrical translation, but sir Arnold has instinctively understood what were intrapolation and extrapolation by later vedantis. One thought in Gita that I really like is the concept of "lack of self sense." "No mind." We act instinctively and all our acts are ethical without even our thinking whether they are ethical or not.

You know Oscar Wilde has written beautifully about this concept as here under narrated.

"When we reach the true culture that is our aim, we attain to that perfection of which saints have dreamed. The perfection of those for whom sin is impossible. Not because they make the renunciation of ascetic but they can do everything they wish without hurt to the soul and wish for nothing that can do the soul harm. Soul being an entity so divine that it can transform into elements of a richer experience, a finer susceptibility or a newer mode of thought, act or passion that with the common would be common place."

Sir Edwin Arnold, Oscar Wilde and Lord Krishna, really one truth pervades all.