In the underworld scene there is a gateway blocked by a huge wall of golden women, all of them suggested to be naked. The women invite the hero into their fold as they hold a magic horn he needs to retrieve. All in all it's nothing explicit as he simply entered the "wall" of women without macking.
Later in the film, there is a quick love scene between the hero and the woman sailor but no nudity or explicit sex occurring. They're seen afterwards sleeping together in bed. No nudity.