First of all, as someone who's been there and done that, don't dip your pen in the company ink. Even when things develop into a relationship, the odds are not in your favor that they'll end happily ever after, nevermind end amicably.

You may have made her a little uncomfortable, but ultimately I think you're too hard on yourself. Assuming you head HR's advice, I think you can write this off as unintentional harm and hopefully you can try to work on this. Maybe talk to your therapist about working on social skills. Maybe try to work on them in general as opposed to strictly for dating purposes; attend a few Meetup groups to work on those skills.