In the case of role-playing involving mildly sexual expressions (such as erotic role-playing) with a consenting group of two or more players, if it is conducted in a private area, it will not be considered a violation unless a report is made.
However, if you encourage or invite a player to participate in such role-play without being certain of their consent, there is a high possibility that you will be reported and penalized. Please be very careful.
As you can see, expressions that fall under this category are generally prohibited, so if even one player who witnessed such an expression finds it offensive, there is a high possibility that it will be reported. What is considered offensive will vary from person to person, so if you believe there is any chance that you may offend someone, you should refrain from making such expressions.