I know this is all about her needing to be soothed.
Are you sure reaching out to her is about her being soothed and not for you to soothe your own feelings of worthiness?
I'm just used to taking care if her when she hurts.
Was I too cold? Should I have said hi and moved on? Should I call her now and explain?
Calling her now is only going to send her a mixed message.
You work together - would it have hurt you to say "hi" - honestly? Would it have ended at "hi"? You are the only one who knows where your boundaries are and why... . so what are you boundaries and why?
Go easy on judging yourself, you likely have a lot of conflicting feelings.