The head of your penis was covered, so there's no risk at all for gonorrhea, chlamydia, HIV, hepatitis B, trich or NGU. These are the "fluid" infections. The concern with fluids is if it gets into your urethra. Since you used a condom, there's no concern.
Condoms offer significant, but not total protection against herpes, HPV and syphilis. Those are transmitted by direct genital skin to skin contact. The chances for all of these with a condom are low enough that it's not worth worrying about.