You wipe the fluids with cloth after intercourse is that stopping you from getting pregnant?
No. Lots of semen will still pass through the cervix, so you can still get pregnant.
Assuming that all you do is share a bath together then no you cannot get her pregnant. However if you have intercourse, or engage is other forms of sex play where semen is near enough to enter her vagina then you could. But, if you are just taking a bath together, with out releasing bodily fluids, there is no risk of pregnancy.
Yes condom can prevent a person from HIV infection. It will not allow the contact of body fluid such as sperm and vaginal fluids. Since HIV is primarily transmitted through body fluids (including blood, saliva) one can be prevented by condoms from getting AIDS by intercourse with an already infected person.