Be glad that she lets you touch her at all. From a woman's perspective, touching is a crucial part of love. Even though it's just her foot...the fact that she trusts you enough to give her a foot rub is saying a lot. The text messages and her being nice are tiny steps but they are positive and those are the things you're looking for--even though they are just about the kids. Right now she's testing the waters and the most comfortable and safest way to get close to you is by keeping you at arms length. She may have to see you as a friend first...