My wife is often naked when around the house. She has been caught many times by friends and neighbors fully nude. But, sometimes, she will wear panties when just running around the house, and I think the panties have a sexual appeal for most guys who catch her like this.
My wife is always buying new panties, from her low-cut everyday bikini briefs, thongs, boy short panties, and even granny panties.
A friend caught her in these red lace boy shorts, and although her ass and pussy were both clearly viewable, she didn't attempt to hide them. She instead covered her breasts in front of my friend.