The Big Bang Theory would be a very different show if the married Penny and Leonard were a sex-crazed couple that enjoyed trying a variety of different bedroom toys from week to week.
Still, the type of intimacy usually shown is a far cry from a leather hat and whip, although it’s really funny that The Big Bang Theory found a way to include a scene like this without it changing the overarching plot of the show at all.
It’s not like they abstained from sex for years like other TBBT couple Amy and Sheldon, who only had sex for the first time on the weekend that Star Wars: The Force Awakens came out.