The rubbing on the shower table, when she rubbed her vulva on your penis - in theory, that could pose a risk for herpes, HPV and syphilis.
Herpes takes time and friction to transmit - usually the kind associated with intercourse. It's not at all likely that you'd get herpes that way unless she had an outbreak.
Syphilis is possible, but syphilis is uncommon in the US. She'd have to have a sore in order for you to get it.
HPV is very common. A minute isn't a long time, and I don't know how much friction there was - the more friction, the higher the chance. Also, she may have been vaccinated for HPV. This is a hard one to predict.
Soap doesn't prevent infection, but that may have slowed things down, too.
Really, what all this comes down to is about a minute of unprotected rubbing. You can get herpes, syphilis and HPV while using a condom, but condoms offer significant protection. I'd say overall, your chances are low.
I can't say the risk is zero, but it's low.