Incest is not rape if it's consensual and both parties are legally recognized to be physically and mentally able to give consent, unless explicitly mentioned by local laws to be seen as rape. Just like any kind of sex, really. People just tend to go crazy over taboo stuff because of vast hypocrisy in almost all laws.
Then again, this is completely virtual sex between java objects so ask your lawyer or legal counselor about that and make sure you pay for the aspirins when you mention Innoxia.
We're all pervs here, not the high court. We don't judge.