Mishpatim - Creating Angels

Why does the Torah place the concept of the inclined ramp of the altar right next to the concept of the laws? Why is there concern of immodesty walking up the ramp if the Kohanim had undergarments to prevent immodesty? What is the concept of 'walking with small steps' versus 'walking with large steps?' How are angels created from the commandments we perform, and how do they serve to protect us? What is the concept of the order of first creating the angels, then being accompanied by the Shechinah, then having our prayers answered? What is the danger of 'rebelling against the angel' that is involved with the secret of having our prayers answered? Find out in this week's Parsha Podcast.