(kinktober 1. Lost Carnival canon, but off screen.)
Taako didn't do this for Foster. Frankly, he was just bored and curious as to what all sorts of things were laying around the costuming rooms here. The answer proved to be far more entertaining than he anticipated.
He's spread out across his bed, waiting for Foster's return entirely to see what his reaction is going to be. No matter what, it's going to be amusing; he'd claimed a few sets of lingerie in varying sizes, including a white, lacy set decorated with little ribbons that currently graces his form, the pale material a stark contrast on his dark skin.
Foster is late, but at least Taako doesn't sleep; he's presently entertaining himself by reading back over his Uncle John's Elven Bathroom Reader.