Hello,
Thank you for your query at DoctorSpring.com
I understand your concern.
Since you had a condom on, and you could not see any blood on the penis directly, there is a very low chance of transmission of STIs or HIV. The only reason being it touched the area of your pubic hair, if there are any minor cuts, then transmission is still theoretically possible. But still it is miniscule.
Feel free to discuss further,
Regards.