Poses and activities are designed with toddlers/preschoolers in mind. While your instructor will likely be able to make suggestions, we expect adults to take care of their own bodies during class.
It’s rarely a problem. Pregnant moms often skip or modify belly-down poses and anything else that doesn’t feel right and adults with special conditions adjusting accordingly.
The biggest challenge is probably for adults who have significant difficulty getting up and down from the floor. I’ve had mobility-challenged caregivers, usually older nannies or grandparents, do very few of the poses with no problem. My suggestion is to try it and see how it goes.
Do note that several of our class venues are down a flight of stairs (strollers can be left locked outside). Our Saturday and Sunday class venues are handicap accessible.