it really really goes back to the stone age. What drives humans to invent clothes is because of climate, not because of the shy or shame. The theory is that for such emotions to occur, you need cognitive reference to previous experiences (too much hassle to explain about experience). Humans learn to adapt and change, for them to survive in the cold weather, they crack their brains and learnt how to make clothes. Ever since then, parents will teach the young to wear clothes to protect themselves from the climate. But how did it turned into perception of shyness or embarrassment that drives us to wear clothes? rather than just to protect ourselves

Maybe some of us have not notice, lets put a scenario as an example. If we go to places like maybe....North Pole, and you are wearing a T shirt while the eskimos (i dont know if there are eskimos in north pole LOL just an example) are wearing thick thick clothing. They will look at you saying "What the?!" as if you are looking at a nude guy on the streets. It really has evolved into a general culture over the years. For embarrassment to drive us into wearing clothes, its pretty much the same cultural and education progression like... erm ... preventing ourselves from doing unhygienic things like digging the nose in public. There is a trigger point in purpose-evolution of wearing clothes where we wore clothes to protect ourselves, to parents saying
' OMG you are not wearing clothes! Shame on YOU!" <----trigger point
rather them having said the conventional, "Wear clothes to protect yourself, NOW, or you will die of frostbite"
its the same as teaching a child not to eat poison as it will kill your, except it does not evolved (at least not yet) into "OMG you eat poison! You should be ashamed!"

Name any famous artists, most of them will perceive human nudity as an art. It is a kind of beauty beyond description of words, which can only be expressed through paintings.

Anyhow dont go running around on the streets nude after reading the post , after all it is a norm now

babies don't born feeling shy , obviously they will go through a stage which we would call education. Lets say this in bible context. Adam and Eve do not feel shy initially, only after they sin upon eating the fruit. They obtain knowledge of man, therefore they start to feel shy as they understand certain things.