I would say that insertion of a sex toy is a sexual act, and so I would be more inclined to label it porn rather than erotica, nudity or not. After all, not all porn is made with nude performers :)

Good pic to illustrate the point of what is/isn't though, as it to me is harder than Erotica, but still below outright pornography. Maybe soft-core, rather than hard-core. Excellent expressing of feeling/emotion in it.

Either way, porn doesn't bother me, and so long as it's done well, it can look very good indeed.