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There are many conscious states that can occur while your body is asleep. What you describe does not sound like lucid dreaming as you did not describe any dream aspects occurring at the time.
The seeing your room could be astral sight or astral projection where you haven't moved away from your body. Though typically if you are astral projecting and not moving away from your body you reintegrate after a few minutes.
Its possible to just become conscious while your body is asleep. One of the triggers for this is an 'alarm' from the physical body. The description of your arm being asleep would qualify. During sleep, your body's connection to your brain/mind/consciousness is very limited. As such any signal from the body come through typically in a vague fashion and can take a while to figure out what the 'problem' is. Its not atypical for that input to be integrated into whatever the consciousness part of you is doing (dreaming, projecting, etc) rather realizing that the actual physical body is in need. Environmental sounds are often integrated into dreams for instance. As such if you were in astral form, you might well move your astral arm in response to a physical arm 'complaint'.
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