clothing - Nudity at home?

I have read that Hashem hates public nudity, but what is the Jewish position on nudity at home in front of other family members?

Obviously, the short answer is bad, don't do it. Modesty is a fundamental Jewish behavioural trait, so we should strive to avoid entirely or minimise to the extreme actual or suggested nudity at all times.

I am looking for sources which address this issue directly, perhaps referring to a child's shame before a parent or vice versa, or how spouses should dress before each other.

These related questions deal with the 'nakedness' of a married woman's hair at home, but not specifically with actual nudity at home:

Nakedness in front of holy items like books, other writings, mezuzot, tefillin, etc. is not what I'm asking about, but would make an excellent follow-up question.

Answer

You have to get dressed in the way that your naked areas won't be exposed. You aren't allowed to say, "I am in my innermost room; who can see me?" G-d can see you. Shulchan Aruch, Orach Chaim 2:1-2.