I suppose the answer is yes, because Lister and the gang knew they were dreaming. That is to be lucid. But their dream control kinda sucked!

Another episode of interest might be "Back to Reality". The characters definitely weren't lucid in this one. The cloest thing to lucidity any of them got was Kryten when Holly was urging him to wake up. The lucid dreamers on this forum would probably be bouncing up and down on their seats at that moment, yelling "Do a reality check! Do a reality check!"