My mom has more respect for the household than that. I once went to my friends house and her mom was just moseying around the house nude. I guess you could have it worse, your friends could be there.
Nudity is totally and completely normal. Our society's judgments on it are not. All indigenous peoples and our ancestors when you go back far enough were nude in front of each other all the time. I would search within yourself to figure out why it makes you uncomfortable. You can also ask your mom specifically why she does it. It may be nothing more than comfort and convenience for her, which is no big deal. But if she is doing it in front of you intentionally for a reason, that might be a little weird. If you are female, you need to get over yourself. If you are male then maybe you just need to explain to her that although it should not be a big deal, our culture makes it out to be one and it makes you therefore feel uncomfortable because your friend's mom's don't do that (even though they might!!!) Talk to her with respect about it and hopefully she will respect you back. Maybe compromise about her simply not walking nude into the room you happen to be in at the time.
When you get your own house you can tell everyone to stay dressed. It IS normal, and legal, for anyone in the PRIVACY of their own home to be nude (but not lude). As long as nobody outside and not trespassing can see your nudity you have the right. [in most of the United States]
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