Unfortunately, it has been my experience that it is hard to come to a consensus on what "maximizes the well being and advancement of the community" and, interestingly enough, not everyone can even agree on what "hurts anyone".
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i think it's not that hard to come to a consensus because deep down or with just a little bit of research we can all agree in some things regarding our well being. For example we know that the use of oils,gasoline and stuff isn't the most healthy thing both for the environment and ourselves but it helped us come into this point. Renewable energy is much healthier and ofc renewable but the issue lies in our current technology. In order to come at an equal level of energy as that of the ones we currently have we need land that we currently don't have :P. Thus we need (and it's happening day after day) to make this tech more advanced. The same can apply to mostly everything.
Now the main reason people may not agree isn't that they don't understand it but because they are greedy and want more for themselves which morally is bad. It's even bad for the health cause we are beings that can't deal with loneliness scientifically. We are since our beginnings in the need of companionship and unity cause simply we would be dead :p.
Now as far as it concerns the "hurt anyone" i will both agree and disagree if that makes sense :P we can both agree to an extent when the "hurt anyone" translates physically without their consent. The psychological aspect is a little bit tricky but in most of the cases when we have people that openly say how their feelings got hurt we are talking about feminists and all this kind of stuff :P Still, it's a very tricky part and i don't have a generic solution to that, i think it depends the case.