Does the body get calories from hand/body lotions that are rubbed on the skin? Specifically lotions with different oils in them?

No. You do not gain weight from topical application of lotion although you can absorb medications such as prescription steroids if you use about 2 oz a day and in very susceptible individuals have an effect on cortisone levels.
No calories. There is such minimal absorption of the oils rubbed into the skin that any calorie increase is minimal, if any at all.