You're not doing anything wrong. That time you separated and landed on the floor was a lucid dream. If you feel a dream body that is separate from your real one you are in a lucid dream. The dream just isn't behaving the way you're wanting it to.
Lucid dreams do feel that real. That's why we do this. My guess is your knowledge of OBE's is skewing your perception. Your subconscious has tied these strange experiences to what you know about OBE's instead of tying them to what you know about lucid dreaming. You said yourself that these feel like OBE's and not lucids. If you feel you're getting OBE's then that's exactly what your subconscious will give you.
Just know that an OBE can become a lucid dream in an instant. A lucid can become an OBE. But you don't exactly get to choose which experience you get at the start. The choice is made at a subconscious level. But if you're getting OBE's you can still consciously manipulate them into lucid dreams by focusing on what you know about dreams.
Thanks, I think I kind of wanted someone to confirm this to me, as I did suspect that it was a very real lucid dream. I just couldn't believe it could be so real!
My Dream Journal = http://www.dreamviews.com/blogs/isthisit/ DILDs - 9 WILDs - 5
Ooh, their breath is warm
And they smell like sleep
And they say they take me home
Like poppies heavy with seed
They take me deeper and deeper
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