As an adult, the only risks for HIV are:
1) having unprotected, penetrative vaginal or anal sex, or
2) sharing IV drug needles with other IV drug users.
If you don't do either of the two activities I mentioned above, you will NEVER have to worry about HIV.
You don not need a test, and you are HIV-negative as you had zero risk for HIV from contacting vaginal fluid outside of the body. You had ZERO risk for HIV, and there is no information you could add that would make this event a risk for HIV.