Personally, similar happened to me - W got a bad cold when we were separated and so I did stay at the house. We slept in the same bed - except it was her that rolled over and put her arm around me - then woke to realise what she was doing and snapped it back quickly - that of course woke me. She "apologized" and told me not to think anything of it. I responded - oh, of course, not problem.
I think, I would avoid doing it on purpose - let her define the boundary because I think when you violate it, it sets you back. HOWEVER, I think there is benefit from some physical interaction, or teasing as long as it does not come from a place of neediness. If it does, the jig is up and she sees the needy wuss that she is so h-ll bent on getting away from.
For me, I just started be a playful "jerk" and that was it. I made it clear that I didn't expect anything in return - in fact, I refused it. But I made sure I wasn't doing this with W only - but with my kids (I wasn't very playful with them either) and other women (subtley mind you). This helped my W become more comfortable with me....and the rest is history.
So for now follow her signal...better safe than sorry.
Sven
Never sacrifice the great for the good. Sometimes the beauty of grace is that it makes life not fair.