Xenoblade has a seamless world AND bikinis!
It's not underwear, it's swimwear!
Unique world setting? Check!
Seamless world with no-transition battle system? Check! Check!
Music from an all-star list of composers? Check! Check! Check!
Xenoblade has all that, and bathing suits too!
Some 2channelers reckon the conversation with the CERO ratings board went a little something like this:
CERO: So what's with the characters showing their undies when you take their equipment off?
Monolith: It's not their undies, it's swimwear.
Monolith: It's swimwear.
CERO: Swimwear, you say?
CERO: Oh, well then it's okay!
And thus Xenoblade got a B rating.
[Seen at Hachimaki]