Your situation involves contact with an object in air (her body) which is not a risk for hiv. No worries, because you can't get hiv from personal contact except unprotected penetrating vaginal or anal, neither of which you did. Analysis of large numbers of infected people over the 40 years of hiv history has proven that people don't get hiv in the way you are worried is a risk.
HIV is a fragile virus in air and saliva and is effectively instantly dead in air so the worst that could happen is dead virus rubbed you, and anything which is dead cannot live again so you are good. Blood and cuts would not be relevant in your situation since the hiv has become effectively dead, so you don't have to worry about them to be sure that you are safe.
As long as the condom covered the head of the penis, there was no risk of HIV. The only way adults get HIV is from unprotected vaginal or anal sex or sharing IV drug needles. Wearing a condom protected you regardless of herpes.
HIV transmission if happens, happens inside of body and through the urethra in males when engaged in unprotected vaginal or anal intercourse. Therefore, even if infected semen somehow establishes contact with open HSV2 sores outside of the body, there is no degree of risk that can be associated.