My penis feel anus of girl with clothes there is still possible to get std
No STD goes through clothing. You can be totally naked, but as long as she had clothes on, you're absolutely fine, or vice versa - she could be naked, and you could be clothed, and you'd still be fine.
There is no risk here.
You will not get any STD from dry humping with clothing as a barrier. You can not get std's through clothing. Nor can you get an std from touching a breast. So, you had no risk of anything.