Don't be scared of HIV. First, it is very hard to transmit despite what your anxiety tells you and second, those who live with it manage pretty well these days with modern medicine. But in your case, you had no risk. You had a hand job. This involves exposure of fluids to air which inactivate them. The issue with condom and touching, etc. is all mute as this all happened with air present. So, there is zero risk. The only risks for HIV are to have had unprotected vaginal or anal penetrating intercourse or to share IV needles to inject drugs. Take care