Arcana Coelestia #165
165. The nakedness of which they were not ashamed means innocence. This is quite clear from what follows. When integrity and innocence left them they were then ashamed of their nakedness, and it seemed disgraceful to them, and so they hid themselves. It is additionally clear from the things represented in the world of spirits that the nakedness of which they were not ashamed means innocence. Indeed when spirits wish to exonerate themselves and prove that they are blameless they present themselves naked to witness their innocence. This is particularly clear with the innocent in heaven, who look like young children, naked, and wearing garlands round them that accord with their particular variety of innocence. But those who do not possess so much innocence appear clothed in splendid and shining clothes - you might call them brightest silk - like angels when seen from time to time by the prophets.
Isaiah 58:6-7
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"Isn't this the fast that I have chosen: to release the bonds of wickedness, to undo the bands of the yoke, and to let the oppressed go free, and that you break every yoke?
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Isn't it to distribute your bread to the hungry, and that you bring the poor who are cast out to your house? When you see the naked, that you cover him; and that you not hide yourself from your own flesh?