Welcome to the forum.
By chance, just an hour ago I answered almost exactly the identical question, in a follow-up comment in a thread that started yesterday.
Neither HIV nor any other STD can be transmitted through intact latex or polyurethane. In theory, it might happen with natural membrane condoms, but even that probably is rare, if it occurs at all. If a condom is properly used and remains intact, protection against HIV can be considered to be 100% or very close to it. This is called "biological effectiveness".
Of course condoms are NOT always "correctly used", and sometimes they break. Therefore, some HIV infections occur in people who rely on condoms for HIV protection over a long period of time and multiple exposures. This is "use effectiveness" and it's always less than biological effectiveness. These issues are addressed in more detail, and on an STD-by-STD basis, in the thread linked below:
http://www.medhelp.org/posts/STDs/How-safe-are-condoms-when-used-correctly/show/665887
As for your particular exposure, it is statistically very unlikely your partner had HIV, especially if she wasn't a commercial sex worker, injection drug user, or otherwise at special risk for HIV. Even with those things, it's still unlikely. But even if she had HIV, the dryness or amount of vaginal moisture probably makes little difference in risk; and HIV is never transmitted by hand-genital contact. I would consider this a no-risk exposrue with regard to HIV.
I hope these comments have been helpful. Best wishes-- HHH, MD