No issue. Put the lubricant packet in your 1 quart ziplock liquids bag with any other liquids and it will probably not get a second's glance.
I would put the condoms, if not in original container, in a ziplock bag also so they stay organized in your bag. Under X-ray it could look odd causing inspection so no need to have your bag ripped through if it's right on top.

If an TSO does decide to be a prick and question you just say the lubricant is a personal medical item and the condoms are rather self explanatory.