No one here can determine whether you penetrated her or not. Only you could possibly know.
No penetration = no risk
Brief penetration = extremely low risk. Most people wouldn't even bother testing for an exposure like this, especially since you don't even know if she is HIV+.
As the others have stated, NO RISK. You're asking about rubbing and touching vagina was already explained that it is not a risk. The risks: unprotected and penetrating vaginal or anal sex or sharing IV drugs. Nothing else is a risk. Touching is not a risk. Air is involved. Air inactivates the virus. Please accept this answer. NO RISK.