I agree R. Star. But here's a theory.. they could have had that thing called dramatic script they did so well AND taken people's clothes off.
The flaw with that is.... you can't take someone seriously if they're strutting around semi clothed or naked. Take Seven of Nine. Intriguing character with a compelling backstory and character arc... but since she's in a skin-tight catsuit... it's hard to take her seriously. She's just a whip away from being a dominatrix.