Does touching and kissing a non-mahram woman nullify ghusl?

Touching a non-mahram woman and deriving pleasure from it is forbidden, and it is a means to zina (fornication/adultery), which is considered one of the gravest major sins. This is what is called "zina of the limbs." Touching or kissing a non-mahram woman does not necessitate ghusl (ritual bath) unless it results in the emission of semen, in which case ghusl becomes obligatory due to the emission of semen, not due to the touch itself. This touch, however, invalidates wudu (ablution) according to many scholars.