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I feel that the important question is always whether someone is injured. In the case of household nudity, I don't know of any evidence that it injures children. But it still feels wrong to me, like putting the fork on the right, only more so. When my 7-year-old starting coming into my bathroom specifically to stare at me naked, I began to feel uncomfortable and asked him to leave. Maybe that was wrong, but that was my decision. I was trying to be relaxed about it up until then. I was certainly more relaxed than my own mother. But I just wanted some privacy. He was making me uncomfortable.
If you are uncomfortable with it then of course you shouldn't do it. My kids have never come into the room just to stare at me, nor does it make me uncomfortable to be naked in front of them.