Do you ever leave your baby unattended?

My husband and I haven’t had sex in months. This morning baby girl got up at 5am I nursed her she went back down till 7. My husband and I woke up before her and we’re enjoying some morning cuddles. My babe woke up a few minutes later happy and not hungry because she already ate. Desperate for a little alone time I changed her bum and put her in her playpen in the next room with only a few safe toys that she couldn’t possibly choke on or suffocate, swallow ect... and my husband and I had a quickie in our room. We have never had sex with babe awake it’s always when she is sleeping In her crib and we go downstairs. Now I’m feeling super guilty for leaving her alone in her room. It was literally 6 or 7 minutes and I can hear her easily from across the hall. She was babbling to herself and when I went to get her after she was sitting up with a toy playing. I have never left her alone in a room unless she is in her crib with the monitor. Was this ok or should we have just waited until nap time and tried then??