Must one clean his hands if he touched a diaper or baby wipe?[1]
If the diaper or baby wipe is dirty, he is to clean his hands [even if he did not dirty his hands in the process]. If it is clean [meaning that he never used it, such as he thought the baby needed a change and he didn’t, or he picked up clean unused diapers from the floor then], he is not required to clean his hands. However, some Poskim[2] rule one is to clean his hands even in such a case that the wipe was not yet used or he touched it only prior to its use
[1] Kaf Hachaim 4:67; Piskeiy Teshuvos 4:29
[2] Rav Akiva Eiger 4 in name of Sefer Chassidim 823