Thank you very much doctor, that is a relief!
Welcome to the forum.
Merely the title you chose for your question suggests no risk and indeed that's my conclusion after reading the question itself. No STD can be transmitted through clothing, and hand-genital contact carries no risk. There would be little or no risk even if the dancer had used her vaginal secretions as lubricant, and certinly not with saliva. Safe sex is pretty simple: if a penis is not inserted into a partner's vagina, rectum or mouth, STDs are not transmitted. You do not need testing for any STD and if you have a regular sex partner, you can safely continue unprotected sex without fear of putting her at risk.
Regards-- HHH, MD