God expects us to treat our sexuality with the highest of integrity , dignity, and responsibility ; that said, it is a no brainer that nudity of ANY kind in public is wrong; the only exception would be a bunch of men in a common locker room ..and same for women . Public nudity is never endorsed in the Bible , it is THE most intimate side of a Human Being designed to be unleashed in a martial union for pleasure / procreation / and binding of that Marriage ... and it is only because of a permissible irresponsible ungodly society, mass media, and out of control highly sexualized culture...that the prospect of it is even considered as tenable . No real Christian should have the same attitude of it as a Non CHristian does.
Being nude at home is fine so long as you make certain you are not seen by outsiders , although there is no good reason to walk around as such because clothing is designed to protect us in addition to being a suitable covering to prevent exposure to others who shouldnt see us nude . Forego the skinny dipping ...why push the envelope by seeing how close you can come to immorality or inappropriateness which is not of God anyway ?
In general, dont listen to the out of control society we live in...rather, get your wisdom to live correctly from Gods Word or from your un-suppressed God given moral conscience . God has called us to be a NEW creation.