As their name indicates, STDs are transmitted by sexual activities. Some of them can also be transmitted by using medical instruments such as needles. Touching is not a risk. If it were, we would see millions of new cases of people affected by STDs every single day just because they gave someone a handshake.
All the best.
You have zero risk. The following is from a similar post that Dr. Hansfield replied to:
There is no STD risk from kissing, fingering, body rubbing, exposure to genital fluids through clothing, or hand-genital contact, even when lubricated by genital fluids or saliva. Why not? Because STDs are not simply infections that happen to involve the genital area. The bacteria and viruses that cause them evolved in a way that requires intercourse or similarly intimate exposure (e.g. from mother to baby during delivery) for transmission to occur. If superficial or minor exposure to small amounts of these bacteria and viruses, or to infected fluids, could result in transmission, they would be common in people who haven't had sex and would not be classified as STDs to begin with.
Could rare cases in fact be transmitted by the sorts of contact you describe? Perhaps once in a long while, but far too rarely to measure or worry about. Just think about the millions upon millions of such exposures that occur every year in the United States; plus the fact that even the busiest STD clinics never see infected patients who only had such exposures. With virtually no exceptions, everyone with diagnosed STDs has had intercourse (vaginal, anal, or oral), usually unprotected. This fact alone tells you that there is no significant risk -- apart from the biological factors just discussed.
As far as I know, your risk is zero. Let's wait for the explanations from the experts.