Female full frontal nudity on several occasions, lingering shots. Multiple instances of intercourse and masturbation.
Sex scenes shown throughout. You don't see anything specific. There is also some sex-related dialogue, characters cheat on their significant other, etc.
A man (in bed) moves his arm under his blanket and starts masturbating. His wife wakes up and leaves and he stops. Later, this same man imagines a naked woman floating in space.
A man's robotic-arm gets stuck when squeezing a woman's breast.