risk of pregnancy with condom

Ok,
first of all hi and thanks for taking your time reviewing my question.
So my girlfriend and I were heavypetting each other and I came in my pants and my underwear.
Nothing to worry about, I cleaned my body parts with paper and just my underwear remained wet. But after about 5-10 minutes, we tried to have anal sex, so I put a condom and proceeded to trying to penetrate her. Allright, i am getting a lot into details but no penetration occurred at the end but i did have some trouble finding the anus, and while doing this I am positive that my wet underwear may had come in contact with here vagina, or even my penis WITH the condom.

Is there a real risk that she may get pregnant?

I know, this forums are overwhelmed by this CAN SHE BE PREGNANT QUESTIONS,but I mean, they are not even teaching us specific cases in college, so I am still very naive in this, because, according to me, a women can only become pregnant IF penetration occurs and semen is deposited directly in her vagina.

Is there a chance she may be pregnant???

THANKS for your help.