No need to test. You're fine.
Herpes isn't spread by hands, even if she somehow managed to get virus on her hands while using the bathroom, which is unlikely. It also doesn't go through clothing, like your shirt or leggings, or her jeans.
The only way to transmit herpes is through direct skin to skin contact, like mouth to genitals (if someone has oral herpes - think cold sores), or genital to genital or genital to anal contact (rubbing, grinding or penetration, all while unclothed).
Oral hsv1 can be transmitted by kissing, and can be transmitted by oral sex. Genital herpes isn't likely to go from the genitals to the mouth, though, whether it's ghsv1 or ghsv2. (The number indicates the strain of the virus, not the location. If you get herpes from someone performing oral sex on you, you have genital hsv1, not hsv2.)
Hope that helps. Casual contact doesn't ever transmit herpes. :)