Nudity around your own kids is not a bad thing. You are setting the example that you are comfortable in your own skin, and that they should be too. Nudity does not equal a sexual situation. The two are two entirely different things. Granted being nude makes sex much easier, but one does not equal the other.
Girls especially in today's society are conditioned that they are a sex object, and everything depends on how they look. They become so overly sensitive to this that you have teenagers that want boob jobs because they are not at least a c cup, plastic surgery on their face because something isn't quite symmetrical, and on and on. Being comfortable with themselves and what they have been given, and being able to be comfortable around others, is a major step toward combating the whole idea that they are nothing but a sex object, and that everything depends on them being a sex object.
Look at the endless locker room threads here. The younger guys freak out about being naked around other men in the locker room, to the point where they are afraid to take a shower, or even change clothes. This is a self esteem issue based on the probably false self image of themselves in their heads. They are not comfortable with their own skin, much less able to be comfortable with the idea of someone else seeing that skin. Want to bet they were raised in a household that was puritanical in view, was no nudity at all, that sex was bad/evil, and gays were just waiting to see you naked and take advantage of you if you were naked? Or that this was the view in school from their peers, and the parents didn't set them straight on the matter?
Take a look back on your kids. Before they hit puberty, did they not shuck all their clothes off at just about every given opportunity and run around naked? This is normal human behavior. It is the adult, applying their fears, ideals, and societal requisites, that changes this behavor. How you go about this makes a huge difference in your children. That you can be naked, be comfortable with it, and not act like a raging hormone when being around someone else naked, has a profound effect on your kids. This translates to times when you are clothed too, and has the same effects.
Nudity is not bad. It is not evil. If you want to go biblical, god intended people to be naked, and woman screwed that up. A little casual nudity is not going to damage your kids, unless you present it in such a way, that they think it will.