You're being EXTREMELY paranoid. You can't get HPV from this friend unless YOU HAVE SEX WITH THEM. HPV (assuming we're talking about genital HPV, and not common warts on hands/feet/etc.) is a SEXUALLY TRANSMITTED DISEASE. You need to read more about it. The only way it is transmitted, is sexually. Things like warts on your hands aren't considered sexually transmitted diseases. You don't need to wipe toilet seats, throw away towels, or avoid sharing utensils or swimming in pools with this friend. You're being irrational. You can have any sort of non-sexual contact with this friend without worrying about contracting their genital HPV infection (I'm assuming this is what they have). Avoiding a friend who has warts on their hands is a bit irrational too. Even children get warts on their hands, they're not an STD, and are just more of a nuisance than anything.
as long as you dont have sex with them you are cool, do a little more research on the other parts of this site.