If God commands certain principles because they are good, doing one's duty is not the highest good, it is only a means for achieving that which God knows is good. It may even be possible to understand what is good independently of knowing what God's commands are. All ethical principles have a categorical form. Two Kinds of Imperatives 1. They apply to individuals provided that they have the appropriate wants or desires.
Categorical Imperatives are principles of reason.
They apply to individuals regardless of what desires they have. Kant believed that all moral obligations were categorical and not hypothetical. Individuals ought to follow moral rules regardless of the consequences, regardless of whether the actions will promote self-realization or bring pleasure. But this first step is not enough. Follow those principles that do not violate the Categorical Imperative.