Contrary to popular belief, men don't actually have that mythical handbook that tells us how to be 'male', nor do we all agree on what is appropriate/inappropriate touching. Unless it was "rubbing" - more than two passes over the same surface, I'd say any 'touch' of the opposite sex, done in a friendly manner, is benign. But each person on this earth has a different idea about it, so asking a group a 'general' question is far less effective than asking the actual person involved.
It becomes further complicated when you're talking about relationships - what one person might consider benign contact, the other person could consider cheating. The relationship boundaries (which should've already been established) come into play in making a decision on this.
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"I'm typing on a computer of science, which is being sent by science wires to a little science server where you can access it. I'm not typing on a computer of philosophy or religion or whatever other thing you think can be used to understand the universe because they're a poor substitute in the role of understanding the universe which exists independent from ourselves." - Willravel
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