Actually no, you can but it is uncommon for brief contact of non-sexual touching. Most sexually active people will get HPV at some point in their life so with this event I would not be concerned in the slightest.
It was definitely sexual touching, but my genitals were not touched. I was scratch on the side of my chest, no blood, but there was visible scratching, and I did touch their genitals briefly but backed away right after.