Quoted from Goalie:The ESRB and Pegi don't make you remove anything. You can have those things in game, but they will give you a Mature rating and descriptors. Which can be bad for sales if you're selling a family friendly game. It would also prevent the game from showing up in online stores if someone's PS4/X1 has parental controls set for kids. Risque artwork would be ok to show skin, just not nudity as that would also trigger a Mature rating.
It would have got a Teen rating, rather than a Mature for those minor things.