Aligned sentence by sentence
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it is impermissible for a sound mind to be free from command and prohibition — and had it been permissible to do so in the World to Come, He would have done so in this world too.
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But they are obligated to affirm His lordship, not curse Him, not attribute lowliness to Him, and the like — by way of pure rational obligation, this is inescapable.
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Scripture also speaks of another, revealed form of obedience: that He appoints for them a place in their land which they are obligated to go to at regular intervals — as the Sabbath or New Moon is for us now —
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and they will worship Him there in something He will specify for them, so as not to leave them without an act of worship — as it says: וְהָיָה מִדֵּי חֹדֶשׁ בְּחָדְשׁוֹ וּמִדֵּי שַׁבָּת בְּשַׁבַּתּוֹ יָבוֹא כָל בָּשָׂר לְהִשְׁתַּחֲווֹת לְפָנַי ["And it shall be that from one new moon to another and from one Sabbath to another, all flesh will come to bow down before Me"],
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And when they have fulfilled this, they go out and behold the punished — for it says וְיָצְאוּ וְרָאוּ ["they will go forth and look"] immediately after it says יָבוֹא כָל בָּשָׂר ["all flesh will come"].
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The traditions confirm that they will not be lacking in worship in the World to Come, as in this world — as it says: תַּלְמִידֵי חֲכָמִים אֵין לָהֶם מְנוּחָה לֹא בָּעוֹלָם הַזֶּה וְלֹא לָעוֹלָם הַבָּא ["Scholars have no rest, neither in this world nor in the World to Come"].
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As for the punished — they are not assigned an act of worship, because of their pain and because such an assignment would remove them from their state, namely the eternal punishment, as we established above.
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As for the last two questions — what their recompense is if they obey Him, and what their state is if they do not obey —
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I answered both at the end of the Seventh Maamar, saying that He guaranteed them the eternal reward only because He knows they will choose obedience to Him and nothing else,
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and that if they choose it, He increases them in graduated happiness as we explained. With these two plus the first explained earlier, only ten topics remain.