Yup. I heard a whisper that the 'untaped' Ms Fisher was deemed 'distracting' from the action and might have given the 1977 movie grading people reason to decline the 'universal' rating. Dunno if theres much truth to the second part, but the 'distracting' bit may be about right.
There's absolutely no mention of lace OR garters to my recollection though.
Well, I've heard that she wore a bodysuit under the costume during the trash scene, but I think that was more to keep her dry. I notice in ANH she seems a little 'bouncy' at times though .