All perfect praise be to Allah, the Lord of the worlds. I testify that there is none worthy of worship except Allah and that Muhammad, sallallaahu ‘alayhi wa sallam, is His slave and Messenger.
What you mentioned falls under the lawful sexual enjoyment between spouses.
Ibn Qudaamah wrote, "It is permissible for either spouse to look at the entire body of their partner and to touch it, even the private parts. Bahz ibn Hakeem said that his father narrated from his grandfather that he said, 'O Messenger of Allah, from whom should we conceal our private parts, and to whom can we show them?' He replied, 'Conceal your private parts, except from your wife and what your right hands possesses (meaning slave-girls).' [At-Tirmithi graded it Hasan (good)]." [Al-Mughni]
Using a barrier during intercourse, even if it is thick, is permissible.
The Maaliki scholar Muhammad ‘Ulaysh wrote, "As for using something, such as a piece of cloth, during intercourse to prevent semen from reaching the uterus, ‘Abd Al-Baaqi classified it as ‘Azl (coitus interruptus, also known as 'withdrawal' or the 'pull-out method') in being permissible provided that the condition for ‘Azl is met, which is the consent of the wife." [Fat-h Al-‘Ali Al-Maalik]
Allah knows best.