Eric - it was actually just on the other day. The episode where both Claire and Cliff have the flu, so the kids are supposed to do chores around the house, but Theo is the one that gets the instructions from the bedridden parents, and so he divides up the chores between vanessa and rudy but just sits around with his girlfriend. At the same time there's a subplot with a carpenter fixing the huxtable family's banister and ius hammering away while the parents are trying to sleep.
Remember that fat white kid that was friends with Rudy in the earlier episdoes? Yeah he gets it on with the bunny on Dr. Huxtable's OBGYN table.