How open are Japanese towards nudism.?

When I was in Japan, I noticed that upper body nudity (men and women) was pretty common on television. Even some animated shows intended for teens and younger audiences had nudity.
So you do get the impression that they are more open to nudity than we are in the US.

However, Japanese pornography is heavily censored when compared to American standards. This always struck me as a little odd. Why censor something that only adults have access to and not censor children's programs?
I think this means that the Japanese are more liberal about nudity in general, but they have something against showing actual genitals.

Public nudity is very much frowned upon as it is in the US. In fact, I noticed that most men don't even wear shorts in the middle of summer because (according to one of my Japanese friends) they are embarrassed by showing off their legs.
However, there are specific circumstances where being nude in front of strangers has become socially acceptable. For example, social nudity is tolerated at public baths, saunas and hot springs.

In general, I would say that they are somewhere between the extremely conservative US view and the liberal European view of nudity.

You said "Japanese", I think they are open to be naked, in public bath, sauna and skin scrubbing parlor,etc.

However, "Japan" as a nation is not open for nudism. If you became naked in public space, you will be under arrest. But I know some people (so called salary men) try to do it in Karaoke rooms or Izakaya private rooms, to make their colleagues laugh.

Well a difference between nudity and nudism.

Japanese tend to be conservative people, there are no nudist beaches, and if you want to walk around in public naked you're going to get arrested.

For nudity,
In onsens (hot springs) it is perfectly normal be nude in the hot springs. However most times it is gender separated as well. However it makes sense to be naked in places like these because you're either taking a bath (who takes a bath with their clothes on?) or relaxing

It is not normal for someone to be at home outside the bathroom walking around all in the buff.