Welcome to the STD forum.
The kinds of contact you describe do not risk STDs, which are not so easily transmitted. Being hard to transmit is why they are STDs to begin with. Anything that can be transmitted through clothing or by touching panties -- with nose or anything else -- would not be classified as sexually transmitted.
So you have absolutely no worries about any STD from this event. Here is another thread that goes into detail about how STDs are (and are not) transmitted:
http://www.medhelp.org/posts/show/1119533
I hope this helps. Best wishes-- HHH, MD