Guss

This was a science-fiction movie or television show. Late 70's early 80's. One main charter was a female alien that was telepathic. I remember this because he partner or person she was working with was a male and had thought of having sex with her. She says, "Why would two people do that with their bodies." Later they have sex using their hands. Seems like the was a big black cylinder ( like one in Star Trek IV) that had something to do with the story. I think the female alien was a cop of some type and the male she was working with was also a cop of some type. Any ideas?