No it isn't. HIV essentially is a sexually transmitted disease. Please read about HIV and it's transmission in the FAQ section of the forum and move on.
No risk whatsoever and testing is unwarranted.
You have been around for several years and have asked questions before, so I suspect you already know the answer. For confirmation:
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 described.