Welcome to the forum. Thanks for a succinct question. My reply is similar.
Urine rarely if ever transmits any STD -- in fact, urine is toxic to STD bacteria and viruses, and at least inhibits them and often kills them. Urine contact with mouth, eyes, skin, etc has never been known to transmit HPV. I wouldn't worry about it.
Best wishes-- HHH, MD
Many thanks for your quick response.
Best regards.