Freedom and responsibility (actions and consequences of actions) are the two sides of a coin.
Most minds want to have freedom of everything, but they don't want to have the responsibility that comes along with the freedom of something or everything.
Most minds think and believe that responsibility is what makes them not free.
For them, responsibility is the opposite of freedom.
But in reality, freedom and responsibility (actions will give rise to the consequences of actions) cannot exist without one another.
If the mind appreciates and desires the freedom of everything, it cannot avoid the responsibility to be responsible towards the consequences of action that are not necessarily pleasant, desirable, agreeable, or enjoyable, even if the mind thinks and believes that its freedom of everything is something good, right, positive, and meaningful, based on the existing thinking and belief and values in the mind about what is good, right, positive, and meaningful.
By understanding that, one will know that responsibility is not the cause of "the absence or lack of freedom".
It is the presence of aversion, or rejection, or doesn't desire, or fear, towards the responsibility towards the unknown, especially towards the undesirable/unpleasant/disagreeable/non-enjoyable consequences that is what making them 'not free', while they have all the freedom to be what they want to be, to do what they want to do, to go where they want to go, to be at where they want to be at, to think what they want to think, to feel what they want to feel, to act and react in the way that they want to act and react, and to express or say what they want to express or say, even if out of ignorance and egoism, there are more and more man made egoistic rules and regulations that restrict the many types of freedom in this world that doesn't belong to anyone or anything, which that itself, has certain consequences that are not conducive for promoting more peace and harmony in the world, but are responsible for the rise of more and more disturbed and suffering minds in the world, that give rise to all kinds of destructive harmful action/reaction/behavior inflicted unto oneself and/or others within the family, in the relationship, in the community, in school, in work place, in business, in all kinds of organization, in all kinds of affair, dealing, communication, and interaction, and in the world.
What the mind wants to think or doesn't think, feel or doesn't feel, understand or doesn't understand, desire or doesn't desire, act and react or doesn't act and react, in certain way, or not in certain way, it is its own choice and freedom, as well as it is its own responsibility to be responsible for all its choices, desires and doesn't desires, action and inaction, and the consequences of all that.
What the mind wants to do with itself, the body, and the life existence, is its own choice and freedom, as well as it is its own responsibility.
Even though the selfless impermanent limited and conditional existence and function of the selfless perceptive cognitive intellectual emotional thinking and acting mind doesn't even belong to itself (the truth of non-self and selflessness), not to say, the selfless impermanent limited and conditional physical body that is made up of many different components and life maintenance supporting systems, or the selfless impermanent limited and conditional life existence of the body and mind, that is full of unpredictable uncertainties (the truth of non-self, selflessness, impermanence, limitation, and conditional), that doesn't belong to the selfless thinking and acting mind, that are momentary, that only exist for a limited duration, under the selfless support of the selfless intentionless energy and elements to be existing and functioning, and there are ceaseless selfless impermanent changes of decay and disintegration that are inevitable, but what and how the selfless thinking and acting mind chooses to do with the selfless existence and function of itself, the body, and the life existence, it is its own choice and freedom.
None can tell the mind how it should think or doesn't think, feel or doesn't feel, understand or doesn't understand, desire or doesn't desire, act and react or doesn't act and react, in certain way, or not in certain way.
None and nothing can tell the mind what or how it should do with itself, the body, and the life existence. Not even the selfless intentionless energy and elements that give and support and maintain the life existence and function of the body and mind, not to say, the parents, the guardian, the best friend, the partner, the children, the teacher, the leader, the scientist, the philosopher, the bully, or the authority of any kind.
Even though the thinking and acting mind itself is non-self and selfless, depending on the selfless support of the selfless energy and elements to be existing and functioning, and even though the selfless impermanent limited and conditional physical body and life existence is non-self (doesn't belong to the selfless thinking and acting mind), that is not in the control of the thinking and acting faculty to control them to be exactly the way that the thinking and acting mind would like and desire it to be, but the choices of the thinking and acting mind of what it wants to do with itself, the body, and the life existence, is affecting and influencing its own selfless existence and function, the over-all condition and well-being of the body, and the life existence to be and to evolve in certain way, or not in certain way.
Even though there is no independent self existence of an infinite 'I' existing in the selfless thinking and acting mind, the body, or the life existence of the body and mind, to be undergoing selfless impermanent changes of forming, existing, decaying, disintegrating, and ceased existing, or to be responsible for the selfless action and consequences of action being generated and performed by the selfless thinking and acting mind via the organs of action of the physical body in the momentary life existence, but the selfless thinking and acting mind is indeed responsible for its choices of action that give rise to the consequences of action, that are being generated in accordance to its own conscious choice, of desires and doesn't desires, that are affecting and influencing the impermanent evolution/changes and the impermanent condition of the selfless existence and function of itself, the over-all condition and well-being of the physical body, and the momentary life existence in certain way or not in certain way.
The thinking and acting faculty that is being over-powered by the restless impure egoistic modification of the mind as well as under the influence of the selfless intentionless survival instinct, might be hurting the different functions of the physical body and the different functions of the mind, abusing and straining the different bodily structures, functions, organs, and systems, forcing/pushing the body and mind beyond its limitation in order to gratify the endless and boundless greedy desires/ambitions of the thinking and acting faculty, either wittingly or unwittingly, thinking and believing that all kinds of achievements might maximize its chances of survival to prolonged its life existence and to enjoy pleasurable enjoyments to the maximum.
All kinds of action and the respective consequences of action being generated by each selfless mind, also affecting and influencing all and everyone and everything in the surrounding environment in certain way or not in certain way.
If the minds are free from ignorance, if the minds are wise, kind, and peaceful, there is no aversion/rejection/doesn't desire/fear towards any kind of responsibility.
The existence of man made egoistic rules and regulations of all kinds of 'threatening punishment' cannot restrict or control the freedom of each mind being what they are, and to evolve as they are. Man made egoistic rules and regulations is completely powerless under the selfless power of nature, under the nature's law of cause and effect.
Under the influence of ignorance and its by-products, devoid of correct understanding, kindness, and peace, the thinking and acting mind might be generating ideas, desires, actions, reactions, or behavior that is hurtful unto itself and/or others and the surrounding environment, either intentionally or unintentionally.
Devoid of ignorance and its by-products, under the presence of correct understanding (wisdom), kindness (compassion), and peace (the absence of disturbance, restlessness, or suffering), the thinking and acting mind doesn't generate ideas, desires, actions, reactions, or behaviors that is hurtful unto itself or others and the surrounding environment.
That is why the highest duty of all minds, is to be free from ignorance, to attain self realization.
There is no need of rules and regulations to control or restrict the freedom of anything and everything, as that doesn't really stop the minds to behave the way that they behave, but it will only causing more and more minds loosing their sanity or mental health due to being restricted to be what they are, as they are.
It is about tackling the root cause of destructive hurtful ideas, desires, actions, reactions, and behaviors, which is about coming from the thinking and acting faculty itself, out of its own freewill, and not being forced, or disciplined, or restricted by some others or by some punishable rules and regulations, but willingly to free itself from being over-powered and influenced by the restless egoistic impure modification of the mind, and then, work diligently by itself to annihilate the idea of 'I', egoism, impurities, and restlessness from the modification of the mind (purifying and quieting the modification of the mind), and thus, removing the veil of ignorance, that enables the thinking and acting faculty to see the truth itself, of knowing Thyself, and this liberated thinking and acting faculty that is devoid of ignorance, will stop hurting itself and others or the surrounding environment, under the presence of correct understanding, kindness, and peace.
In the yoga class, while learning and practicing the yoga asana practice, pranayama practice, and concentration practice, the yoga students are indeed learning to take full responsibility for themselves, to be responsible towards looking after their own body and mind and life existence, their own physical and mental well-being, their own desires and don't desires/actions/reactions/behaviors/decision making and the consequences of their desires and don't desires/actions/reactions/behaviors/decision making.
The mind that can take responsibility as it is, they can fully enjoy their freedom of everything, and be responsible for the consequences of their freedom of everything, as it is.
The mind is not free, it's because of fear. Fear of losing what they like and want, fear of not getting what they like and want, and fear of getting what they don't like and don't want (being the slave of the desire of craving and aversion).
Inquire the truth of everything.