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Heteronomy is the opposite of autonomy.
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When I act heteronomously,
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I'm acting according to an inclination or a desire
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that I haven't chosen for myself.
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So, freedom as autonomy
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is an especially stringent idea that Kant insists on.
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Now, why is autonomy the opposite of acting heteronomously
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or according to the dictates of nature?
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Kant's point is that nature is governed by laws,
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laws of cause and effect for example.
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Suppose you drop a billiard ball, it falls to the ground;
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we wouldn't say the billiard ball is acting freely.