Welcome Miketallica....

Sorry your lucid dream didn't seem very vivid. As Vex said some dreams are more vivid than others. And I do think you can increase the "realness" in dreams by trying a few things. Some of the things that worked for me are to do what suttsman suggested and rub my hands together, or to rub my hads up and down my arms. That helps stablize my dream, and makes me feel more physically involved. Other things that have worked for me are to look around at things and touch them. Usually when I really focus on one thing, I am amazed at how real it seems. But the trick is to consciously focus on it. I think sometimes our minds don't want to do the work to make everything around us very detailed--but it can easily make single things very detailed. Start with trying these things and see if it makes a difference.

Good luck!