Will i get HIV or AIDS for...?

wearing my grandma's underwear? it was a total mistake. she puts some of her underwear in my drawer, and i just grab and put on whatever's in it because it's full of MY underwear. my parents already told her to use HER drawers politely but she doesn't stop. they were washed undies, but i still find it very unclean! and whenever she cleans dishes or clothes, it still smells funny and there's stains. she came over to stay for three months, not very hygienic, and she has diabetes.