Venus and Cupid with two satyrs in a landscape Simone Peterzano (1535-1599)

The picture has something of this: nude, woman, people, girl, water, recreation, reclining, group, child, shirtless, beach, sea, love, baby, man, son.
Perhaps it’s a painting of a naked woman laying on a blanket next to a man with a monkey on his shoulder and a child on his lap next to her.