Don't be to hasty in that conclusion. In his youth he associated with a group of people who shared an interest in such topics. Few people remember Aleister Crowley today, but Jack Whiteside Parsons was the founder of Jet Propulsion Labs.
I'm aware of RAH's early connection with such dodgy types.
However, based at least on their prominence in his novels, his obsession with unconventional sexual practices seems to have increased in later life.