The only risks for HIV in adults are:
1) Having unprotected anal or vaginal sex, or
2) sharing intravenous needles with IV drug users.
There isn't any other situation that you can think of that would put you at risk for HIV. You cannot get HIV from cloth, or ANY objects or surfaces.
There is no "what if" that you can add to this event that would make it a risk for HIV - you had zero risk, and you don't need a test.