I would say your risk is quite low given that you were wearing a condom, and the skin around your penis was intact. The skin surface is generally a very good barrier to HIV and so even if she had HIV ( which we do not know), getting her blood on your skin/ scrotum would not be an extremely high risk.
I would think it is reasonable to do follow up tetsing for HIV, syphillis, and hepatitis B, but overall I would say you are not very high risk.
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