Having recently watched the unexpurgated DVD set, all the sex acts were implied, and not shown. There was brief female nudity in the opening scene with the african dancers, and a few shots of nekkid people from behind. Nothing like HBO.
Is it the BBC version, or the Bowdlerized PBS version you saw?
No, IIRC, it wasn't as graphic as the HBO version, but at the time, it WAS much more shocking.