No. According to IMDB, They shared a short kiss and a partial nude scene. See descriptions below:

"Sienna Miller has said that media reports that she shared an on-screen "romp" with co-star Keira Knightley in last year's The Edge Of Love were absurd. The actress told Parade that the attention given to a short kiss between the pair "went way overboard". "

"Actress Keira Knightley was unfazed when her The Edge Of Love co-star Sienna Miller stripped completely nude to film a bath scene together - insisting it's all part of her job.

The stars play two lovers of poet Dylan Thomas in the 2008 period drama, and both bared their flesh for the steamy scene.

But while Knightley opted to remain partially clothed for shoot, she insists she wasn't alarmed when Miller got naked before jumping into the tub.

Instead, she was more concerned about the freezing temperatures of the bath water."
Source(s):
http://www.imdb.com/title/tt0819714/news#ni0708915


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