Ibn 'Abbas (Allah be pleased with them) is reported to have said that he did not see Allah's Messenger (ﷺ) touching other than the Yamani corners.
Sahih Muslim Book 15, Hadith 272
← Previous Hadith I saw'lbn 'Umar (Allah be pleased with them) touching the Stone with his hand and then kissing his hand. and he said: I have never abandoned it since I saw Allah's Messenger (way peace be upon him) doing It.

Sahih Muslim Book 15, Hadith 271 Next Hadith → By Allah, I know that you are a stone and if I were not to see Allah's Messenger (ﷺ) kissing you, I would not have kissed you. Harun said in his narration: A hadith like this has been transmitted to me by Zaid b. Aslam on the authority of his father Aslam.

Sahih Muslim Book 15, Hadith 273