In order for it to be a lucid dream, you have to have realized that it was a dream. Not that you could do wheelies on the lawn mower, or that you could control things with some strange ability, but simply that you were in a dream.
So, you'd have to be the one to tell us if it was lucid or not. From your post it just sounds like you were controlling it but not actually lucid?
To help you out with the weird terms, here is a list of the acronyms.
Essentially there can be two types of lucid dreams- Dream-Initiated-Lucid-Dreams, where you weren't lucid until the dream was already in progress. These are the DILDs you'll see all over the place. The other is the Wake-Initiated-Lucid-Dream, the WILD, which means that your mind never lost awareness and consciousness, and you let your body fall into sleep and begin dreaming straight from the waking state. Every different technique to become lucid aims for one of these two categories of lucid dream.
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