First, HIV. The only risks for HIV are to have unprotected vaginal or anal sex or share needles to inject IV drugs. Your condom protected you from HIV and you had no risk from taking the condom off and blood to hand to baby wipe to raw spot. Not a risk. Air inactivates the virus. Unless you do one of the three things mentioned as risks, you do not need to worry about HIV. As for other STD's, the condom was a barrier there as well. The transference of blood from condom to hands to baby wipe to raw spot is also not going to impact std transmittance.