"I worked on NYPD Blue during the '90s and it was a network television show about cops, but it was a little ahead of its time because one of the particular dynamics of the show, besides the case of the week, was that you knew that these particular characters were involved in risque sexual situations.

For network TV at that time, that was kind of unheard of. It was fun to see every week, when the new script would come in, who was going to be at the treadmill or the gym because you knew that their butt was going to be shown on that particular episode.

So that sticks in my head, butt-work. [laughs]"

http://ew.com/tv/2017/04/14/jimmy-smits-favorite-tv-roles/

I loved him as Bobby, but his departure scene was a little much, IMO. It was too over-dramatic, to be honest. But it was touching and Kim Delaney was amazing in those scenes.