Rape under the Queensland Criminal Code is actually defined as "(b)the person penetrates the vulva, vagina or anus of the other person to any extent with a thing or a part of the person’s body that is not a penis without the other
person’s consent; or
(c) the person penetrates the mouth of the other person to any extent with the person’s penis without the other person’s consent."

So touching someone on the buttocks can't be rape, looking at someone for more than 10 second's also can't be rape.