I can't say for sure, sorry. But it sounds like great experience, either way.

I don't think I have ever made RC in a dream and not get lucid. But I have done things, that I call "lucid elements". Like thinking, deducting ideas, flying like I fly only in lucids, and other things.

For me, lucid is, when I think "finally, I'm lucid again" or "yes, I'm dreaming". Or something similar, that clearly states that I'm aware that I'm dreaming. It almost always comes with huge rush of excitement and otherworldly happiness. At the moment of realization, the environment changes for me. As if pre-realization I was just watching tv, and post-realization, I'm inside of the TV, in 3D environment. My senses change, I'm suddenly aware of my surroundings, I feel sunshine, rain, wind, I just feels like I'm there. I have eagle eyes vision, and I can change things just by thinking about changing them.

Of course, you can be lucid and not have such strong sensations. Or being able to change things. You can have different levels of awareness in a lucid dream. But as I said, for me, the excitement and acknowledging that I'm dreaming is the best indicator.

Sorry, if this didn't help much.

But just write it down in as much details as you can, and perhaps later on, based on your next experiences, you will be able to classify this experience too.