It was defiantly a lucid, BUt that doesn't mean you had a high level of lucidity. There is a scale of 1-10, 10 being it full total control and lucidity. Dreams feel very different than reality. I suggest fr your next, maybe 5 or so lucids you just need to chill out and relax in the dream. Stabalize, get the clarity up and just walk around and explore what your mind has given you, really just try to observe the feeling of being in that dream. Once you do that for a few lucids your understanding of what a dream looks and feels like will rise, and lucids will come easier.

Congrats man, I know you've been working hard at it