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A live audience attended the studio to watch the making of Friends. (https://www.quora.com/Are-sitcoms-like-Friends-and-HIMYM-really-recorded-in-front-of-an-audience-Are-the-laughs-original, http://www.comedycentral.co.uk/friends/articles/25-interesting-facts-about-the-live-filming-of-friends)
There is a scene when Rachel Green is naked in the apartment:
Was she really naked in front of the studio audience? What if there were children in the audience?
No, most likely not. Usually for shows that are recorded in front of an audience, nude scenes are pre-recorded on a closed set. Even if they were recorded live, the actor would most definitely have pasties on. Therefor, they aren't nude in front of a live audience even if it was recorded in front of a live audience.
