Your scenario doesn't make sense but regardless, the only ways anyone gets HIV is to have unprotected vaginal or anal sex or share IV drug needles. That's it. Can't touch something and get HIV. You couldn't get HIV from touching someone's underpants and your mom couldn't get HIV from touching your jeans with semen on them. Gross, I mean. If you are old enough to get a massage that involves touching underwear and masturbation, you should be able to do your own laundry. But as far as HIV, no risk at all.