Its too late to be timely- but you can pick up HPV that way- just skin contact will do it. Most of the others are highly unlikely. You have probably been tested by now- if you do have HPV you could have picked it up before if you have been sexually active. A majority of sexually active people have it- most kinds of it seem to be harmless, but there is one kind that is dangerous to women ( it is associated with cancer of the cervix) and there is a kind that is associated with venereal warts- which are not dangerous but can be unsightly and painful.. -- if you do have it, you may or may not have this kind- ask your doctor.
In general, its good to know the sexual history of a sex partner- using condoms, washing hands etc- are all good health behavior and recommended.
I would get yourself tested. That is a definate possiblity of an STD if she had one to begin with. She or you would have to have one to begin with to be able to contract it. You had contact with out condoms so yes it could be.
Get tested.