You did not have a risk from what you've described. As CurfewX already posted the only risks for HIV, there is no reason for you to be concerned or to seek any testing.
The only HIV risks for adults are:
1) having unprotected, penetrative, anal or vaginal sex, or
2) sharing intravenous needles (with IV drug users)
NOTHING else you can think of is a risk for HIV, including the event you mentioned. There is no "what if" that you could add to this scenario that would make it a risk for HIV. You had zero risk for HIV and you do not need to test for HIV.
Your situation involves touching contact with a person which is not a risk for hiv. Therefore testing would be a waste of time, since there is nothing to test for. No worries, because you can't get hiv from personal contact except unprotected penetrating vaginal or anal, neither of which you did. Analysis of large numbers of infected people has proven that people don't get hiv in the way you are worried is a risk.
HIV is effectively instantly dead in air so the worst that could happen is dead virus rubbed you, and that 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.