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Come to think of it, this could be an interesting adventure, or short story arc, for a campaign. A society, like the one described above, wishes to join the Federation. They're peaceful and friendly, with the only real drawback to the society being this sort of "slavery" that exists in their system of living. But, they can offer the Federation resources, or perhaps a strategic location for which to place a Starbase or Outpost. The PC crew are placed in charge of the final stages of the planet's review for Federation membership, and they find out about the planet's background, and its issues. However, certain elements within both Starfleet and the Federation want, and feel that they need, the planet as a member. Thus, the crew is faced with a dillema: Overlook the situation, so that the Federation can get what they need from the planet, or do they object and voice their concerns, and try to stop the membership from coming to pass, because of the societal problems of the planet, that seem to violate some of the core beliefs of the Federation, despite the possible setback that the Federation might suffer?