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sensual (adj.)

early 15c., "carnal, unspiritual;" mid-15c., "of or pertaining to the senses," from Old French sensuel (15c.) and directly from Late Latin sensualis "endowed with feeling" (see sensuality). Meaning "connected with gratification of the senses," especially "lewd, unchaste" is attested from late 15c.

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Definitions of sensual from WordNet

sensual (adj.)
marked by the appetites and passions of the body;
music is the only sensual pleasure without vice
a sensual delight in eating
Synonyms: animal / carnal / fleshly
sensual (adj.)
sexually exciting or gratifying;
sensual excesses
Synonyms: sultry
From wordnet.princeton.edu