To answer your question Palomine, about 'R' rated Stargate eps:
Stargate originally aired on Showtime, which allowed it to get away with some nudity. At least in its first episode. The particular picture you've attached in Dr. Jackson's wife from another planet, Sha're being implanted with Ra/Apophis' mate. Which, as you may have inferred, happened in the first episode of the series and is the SOLE occurrence of nudity in the show.
Following the first season or two, Stargate SG-1 moved into syndication. And after a few more seasons (5th or 6th approx) it moved to scifi and concluded.
Needless to say neither the syndicated nor the scifi versions were very racy.
All that said, there's still some very nice cleavage every now and then. If you can get the first few episodes of SG-1 after Jack leaves the team and those two from Farscape join the cast. The lead female (Cladia Black as Vala) goes through a cosmic body swap with a busty blonde in midieval dress for a few eps.