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A basic principle that makes certain actions a duty is a practical law. The rule that the agent adopts on subjective grounds as his principle is called his maxim; hence, the maxims of agents may differ greatly with regard to the same laws.
The categorical imperative, which in general only asserts what obligation is, is this: act according to a maxim that can at the same time be valid as a universal law....
Justice is therefore the aggregate of those conditions under which the will of one person can be conjoined with the will of another in accordance with a universal law of freedom....
"Every action is just [right] that in itself or in its maxim is such that the freedom of the will of each can coexist together with the freedom of everyone in accordance with a universal law."
If, therefore, my action or my condition in general can coexist with the freedom of everyone in accordance with a universal law, then anyone who hinders me in performing the action or in maintaining the condition does me an injustice, inasmuch as this hindrance (this opposition) cannot coexist with freedom in accordance with universal laws....
Hence the universal law of justice is: act externally in such a way that the free use of your will is compatible with the freedom of everyone according to a universal law. [Immanuel Kant, The Metaphysical Elements of Justice, translated by John Ladd, p. 26, 34-35. Brackets added by translator.]