Our past conditioning determines our actions, and the consequences result in learning. Life is a means to learn our lessons which these actions and consequences produce. Learning helps to evolve, to progress and to become better. Minds are governed by the law of action, and this law completely determines how the minds evolve. Doing an action may not bring about the desirable consequences, but it always brings a lesson. So the right action is that which brings the right lessons that can help us grow and evolve. The more we evolve, more free we become. More freedom brings more happiness and peace. Happiness and freedom are thus, our goals.