Is ritual bathing (Ghusl) obligatory if only partial penetration occurs without ejaculation?

Primary text

Ghusl is not obligatory if only a part of the glans (Hashfa) is inserted, or if penetration occurs below the vulva or into the navel, provided no seminal discharge occurs. This is because the conjunction of the two circumcised parts (the meeting of the glans and the corresponding part of the female organ) or its equivalent did not take place.