The marine law clearly states the following:
"'Sexual Assault' To attempt to or succeed in the acts of assaulting another person sexually, including rape. Punishment:Permanent confinement/Execution"
This however does not disallow ICly consensual ERP as doing so does not break said law.
Meanwhile OOC consent but no IC consent would as matter of fact break it.
Due to the existence of the OOC rule of no ERP however, this law is rendered obsolete and pointless as any attempts on doing ERP consensual or no would result in the OOC rulebreak and is to be handled as such rather than ICly.