[animal]

Well, don’t want to get violated, but ... imo ..

Helping others within a reference frame of a society based upon law can be simple. If the law is reduced to regulating acts and methods, concepts like "helping others" can be reduced to mechanical descriptions. Personal motives can be made irrelevant except in establishing a likelihood that the person committed a particular act.

Why we help others is an altogether different question, brings in personal motives, and various theories of human behavior.

IMO, Law can be treated as an applied science, the engineering side of social psychology and philosophy.
Further, SYG can be shown as an example of law which doesn’t conflict with valid theories in either "science".