This was absolutely a lucid dream. As long as you know that you are dreaming, it is a lucid dream. Control is nice, and a true understanding of the fact that it's a dream (rather than just the knowledge of the fact that it is) can help with dream control. But simply knowing it is a dream is enough to make it a lucid dream 
Next time, if you are having trouble doing these things, make sure to just keep doing reality checks so that you're very aware that it's a dream. Keep looking at your fingers, telling yourself, "It's impossible for me to have 8 deformed fingers, so this MUST be a dream. Which means that NONE of this is real, and it can all be changed EASILY, I just have to believe it. So I am going to float up to that tree branch right now! *inhale, float" Stuff like that really seems to help. Just keep telling yourself- it's a dream, you're the dreamer, if you've got the confidence you can do whatever you want
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