Arjuna is still not confused.

Here, the perspective shifts to Arjuna. As the enemy army is arrayed and weapons are about to be unleashed, Arjuna takes up his bow, Gandiva. At this moment, he is not refusing to fight, but rather is filled with the tension and determination of a warrior.

Arjuna, who had Hanuman on his flag, asked Krishna to place the chariot in the middle of both armies. There is also a meaning to Arjuna calling Krishna "Atchuta." Even while taking on the role of charioteer, that divine essence never diminishes and does not separate from its own glory. Arjuna knew this, and he wished to advance into the center of the battlefield.

Japanese Translation from the Gita Press Edition - Chapter 1, Verses 20-21: "The Tanks Between the Two Armies"

Having seen the armies arrayed for battle, Kapidhvaja said: As the weapons were being prepared and Arjuna strung his bow. || 20 ||

Then Hrishikesha spoke these words to the king: Arjuna said: Place my chariot in the middle of both armies, O Madhusudana. || 21 ||

Vocabulary

"atha" means "well," "now," or "at that time."

"vyavasthitān" means "those who have arrayed themselves against oneself."

"dhārtarāṣṭrān" means "the sons of Dhritarashtra."

kapidhvajaḥ is an epithet of Arjuna, which means "the one who carries a monkey on the flag." In this context, the monkey refers to Hanuman.

pravṛtte śastrasampāte means, "When weapons and projectiles are about to be launched."

"dhanuḥ udyamya" is "taking up the bow."

pāṇḍavaḥ means "son of Pandu," and here it refers to Arjuna.

"hṛṣīkeśaṃ" is a name for Krishna, and it includes the meaning of "lord of the senses," "one who knows all hearts."

"senayoḥ ubhayoḥ madhye" means "between two armies."

"ratham sthāpaya me" means "Please place my chariot."

"Acyuta" is a name for Krishna, and it means "the one who never falls," or "the one who does not deviate from his true self."

Translation

O king, Seeing the sons of Dritharashtra arrayed against him, At that moment when weapons were about to be unleashed, Arjuna took up his bow, with Hanuman depicted on the flag.

And then, he said to Krishna:

"Krishna, Please place my chariot between the two armies."

Annotative Translation

The great hero Hanuman, in accordance with his promise to Bheemasena, always resided on Arjuna's large flag.

And during the battle, it is said that it occasionally let out large and terrifying roars.

In this section, Sanjaya calls Arjuna "kapidhvaja," which means "one who has a monkey as his banner," in order to remind Dhritarashtra of this fact.

Duryodhana and his brothers, and all the other Kaurava warriors, are fully armed and ready for battle, just about to begin fighting.

Seeing that scene, a heroic feeling arose in Arjuna's heart as well.

He immediately picked up Arjuna's bow. In chapter 20, Sanjaya is trying to convey this.

In chapter 21, Sanjaya calls Krishna "Hṛṣīkeśa" again.

This is showing to King Dhritarashtra that it is God himself, who knows all hearts, who is acting as the charioteer of Arjuna.

In such a battle, even though the main character himself is helping the opposing side, isn't it the height of ignorance and foolishness to expect victory?

"Acyuta" means someone who never loses, someone who never falls.

Also, it means a being that is always established within itself, and does not separate from its own power and glory.

By Arjuna calling Krishna by this name, he is showing that he knows Krishna's glory and true form.

In other words, Arjuna is accepting the role of a servant who allows Krishna to drive his chariot, and even so, and eternally, he acknowledges that Krishna is God himself.