Yes, you were lucid but only just, it sounds like. You were somewhat aware but not fully rational. I have experienced 3 levels myself, although some claim there are 6. That said, 90 percent of mine are fully rational and you feel 'there'. Before RCs and actually trying I had 2 or 3 semi-lucid dreams and did like you, controlling environment a bit, but it still was dream-like. But if you do an RC in the dream, and it wakes your brain a little more. But the very best are when you actually think you are in real time, but by training you decide to do an RC 'just to stay in practice' and then say 'holy .....' I'm DREAMING! Those times for me make it all worthwhile and you are then THERE, fully present in a different reality.