There's a spectrum from platonic to sensual to erotic to sexual or carnal. Like you, I would consider petting (especially above the waist) as erotic but not always sexual. Also consider that some erotic arts, such as Tantra, may focus on the erotic but specifically rule out orgasm for religious, magical, or other reasons. Kink is similar, often stimulating but not necessarily genital. And in Terramagne, powergasm can be erotic or sensual rather than sexual. It does short out the nervous system briefly -- sometimes even more thoroughly than orgasm -- and is intensely pleasurable, but is not identical to orgasm and people may like one but not the other.