It should be more normal than it is

If it is not normal between strangers (in the society), then it shouldn't be done in the family too, because the family has to prepare the child to live his own life later, and if he learn wrong principles in the family, he will suffer later and will have to re-learn how to act, how and what to think...

WTF? DUDEE FAIL.
If I ever saw my parents walking around me in the nude I'd be disturbed for life.
Your kids are totally gonna grow up in a wrong way broo just sayin'. I agree with viper.