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Babylon 5: The Quality of Mercy (1994)
Not a "filler" episode
I agree that this was a well-written and acted episode, but I have to point out that it was not entirely a 'filler' episode.
The alien machine that was used by Doctor Rosen (June Lockhart) in this episode returns in a later episode ("Endgame" - season 4) in which Marcus uses it to revive Ivanova from fatal injuries suffered in the final battle to free Earth from President Clark's forces. Since the machine (apparently constructed by a long-lost alien race as another alternative to capital punishment) draws life from one person to heal another, Marcus gives up his life to save Ivanova.
The legal and ethical ramifications of this episode could fill a book. The ultimate criminal punishment - death - has evolved somewhat from brutal stonings, crucifixions and hangings to more 'humane' methods such as lethal injection and gas. The two alternatives depicted in this episode show where these developments could lead, and that regardless of the 'improved' techniques capital punishment will always remain problematic.