I’d also like to be very clear, if everyone involved isn’t into it, it’s not erotic. It’s not sex. There are plenty of other words for it, use one of them. Need a clear analogy? I can hit you with a frying pan, but that doesn’t make it cooking.
I suppose it’s like sex on the beach – better in theory than in practice unless you’re well prepared or you really, really like sand. Maybe a cell would be sexier if the bed was softer and the heating worked.