I don't understand why you would do it uncovered, but its their body and, IMO, not at all a sexual or inappropriate activity/display if they chose to not cover up. I mean, I guess if you did it actually topless, that would be really strange. But "uncovered" seems to mean clothed but without a blanket of some kind. And between clothing and baby, "uncovered" is really pretty "covered." And for the moments when baby isn't "covering" I just don't see it as inappropriate, sexual, or "gross."