The Dream of Aesculapius Sebastiano Ricci (1659-1734)

The picture has something of this: Renaissance, people, reclining, baroque, man, cavalry, group, saint, nude, allegory, two, pain, war, god, woman.
Perhaps it’s a painting of a woman laying on a bed next to a man in a room with other people on either side of the bed and a man on the other.