Your situation involves personal contact with an object in air (various items which is not a risk for hiv.) No worries, because you can't get hiv from personal contact except unprotected penetrating vaginal or anal, neither of which you did and you didn't share hollow needles to inject with which is the only other way to acquire hiv. Analysis of large numbers of infected people over the 40 years of hiv history has proven that people don't get hiv in the way you are worried is a risk.
HIV is a fragile virus in air or saliva and is effectively instantly dead in either air or saliva so the worst that could happen is dead virus rubbed you, and obviously anything which is dead cannot live again so you are good. Blood and cuts would not be relevant in your situation since the hiv has become effectively dead, so you don't have to worry about them to be sure that you are safe.
Unfortunately Covid is not fragile, so you do need to keep washing and social distancing from the people in your house if they interact with others.
HIV is transmitted by
1) having unprotected anal or vaginal sex, or
2) sharing intravenous drug needles with other people.
You cannot get HIV from the event you mentioned. There is no detail you could add to this event that would make it a risk for HIV.