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I think what we need is "basic commodities" in terms of foodstuffs that a person could live off of, for example: a 40lb bag of rice, lentils, 3 different kinds of beans, corn meal, canned tomatoes, canned fruit, and a jar full of multi-vitamins. Absolutely no proof of income status should be required only a quick verification that that A. You are a human being, and B. you're not abusing the system by taking more than you could actually consume during a given time period.

This ensures that nobody ever needs to go hungry, it puts money in people's pockets because now they don't have to spend as much of their income on food, and it accomplishes this all without prying into the private details of anyone's life.

The goal in my opinion should not be to "give everyone an income" but rather to give everyone a safety net on top of which they can attempt to build a life for themselves. It trains people to be used to sharing and giving the things that we need to sustain ourselves, which is healthy and nurtures a cooperative spirit among men.