I changed my kids diapers, if I didn't they would smell and get a rash. Having a good reason to do something isn't the same thing as wanting to do it for purely

I changed my kids diapers, if I didn't they would smell and get a rash. Having a good reason to do something isn't the same thing as wanting to do it for purely pleasurable reasons. But that's the whole point isn't it? Approaching things as, "if you don't want to do it, then don't" can lead to a whole lot of bad outcomes.