Rome condemned the view that freedom is opposed to compulsion only: Pius V and Gregory XIII
The view that freedom of choice is opposed only to compulsion and not to necessity has, however, been condemned by the popes of Rome.
Bellarmine mentions a decree of Pius V, later renewed by Gregory XIII, which censures these two propositions among many others: 'What is done voluntarily is done freely, even if it is done of necessity', and 'Only violence is incompatible with man's natural freedom.'
Latin
XXXVII. Verum ista sententia quae libertatem arbitrii statuit oppositam esse, non necessitati, sed coactioni tantum; a Pontificibus Romanis damnata est. Nam Bellarminus meminit decreti cujusdam Pii V. quod postea a Gregorio XIII. renovatum fuit, in quo inter alias multas propositiones, hae quoque censura notantur. Quod voluntarie fit, etiamsi necessitate fiat, libere tamen fit. Item, sola violentia repugnat libertati hominis naturali.