Hello,
Thank you very much for your post and welcome to our HIV forum.
To respond to your question in a single word: no. You did not put yourself at risk of HIV at all whatosever; a condom was used and this remain intact and in place. Even if the lady in question was positive, and that is a lot of assuming. HIV does not infect through intact skin; you would have had to have an open bleeding wound, which is not the case.
No need to worry, no need to be tested.
Kind regards,
Dr José