Could I or my sister have contracted rabies this way?

It sounds like the risk of contracting rabies from the interaction you’ve described is extremely low. Rabies transmission primarily occurs through bites or scratches from an infected animal, where the saliva has direct access to mucous membranes or open wounds. Just petting a dog or touching its fur is unlikely to transmit the virus unless there was saliva transfer involved; and it then contacting a mucous membrane or open wound. Since the dog was on a leash and with a caretaker, it significantly decreases the chances that it was a rabid stray. Also, rabies in domesticated dogs in many regions is rare due to widespread vaccination programs. However, if you have any concerns about the wound, it’s always wise to have it examined by a healthcare professional as basic wound care is important to prevent other types of infections. Washing your hands is a good initial step for hygiene. If you are still very concerned or in a region with a high incidence of rabies, consulting a doctor for potential post-exposure prophylaxis might be beneficial, especially if you learn later that the dog’s health is questionable. For your peace of mind, keeping track of the dog’s health for about 10 days can also be reassuring, as dogs with rabies typically show symptoms within that time frame. Overall, the likelihood that either of you contracted rabies in this situation is quite minimal, but staying vigilant and informed is always beneficial.