i don't think it's a bad thing to cover yourself if a kid walked walked in--just explain that it's a private thing that grown-ups do. i don't think it has to be a "shame" issue, but it ISN'T a spectator sport. i don't think it's a good thing to expose kids to sexual things, they don't have the emotional maturity to sort that stuff out. nudity and sex are different things. nudity? sure. but not any more.
that was DEFINATELY not me.
as far as masturbation, i told my kids they have to wash their hands before & after, and it's a PRIVATE thing. i don't want to see it. (and to the boy, you clean up after yourself)
i definately don't think little kids should be learning about sex by watching it. it's not appropriate, and not good for them. i think the 60's and 70's proved that.
i think what you are talking about are 2 different issues (body shame and healthy sexuality), because i'm pretty sure you don't mean performing sex in front of your kids.......sex IS a beautiful expression of love, but it definately does not need to be tied up with feelings about your parents. that's just a psychological recipie for disaster.