You people actually have that good memory/control? I thought that was much rarer.
Wh9it that I mean actually be able to go thought whit higly spesific things you decided while awake, and to do complicated things without waking up/destabilizing the dream?
(I might no be able to lucid dream myself, but I read books worth of the damn theory. Not actually completely wasted as it helped whit understanding of other psychology related areas.)
A tip/thing you could do and report about that I from a personal source that I know is awesome: being a snake/mantis ray/electric eel/something else whit senses humans don't have. Spend half an hour reading up on it on wikipedia while awake, check up on its anatomy and while still awake think in many ways about how it would feel actually feel whit high realism and no shortcuts like projecting it on a sense you already have. Then when dreaming change to it in a way that makes all those sensations you just abstractly imagined while awake become real.
One I recommend for starters is some common kind of snake, the heat vision is similar enough to optical vision to be rather easy, and the feeling when you sink your fangs into the soft flesh of some little rodent is just... mmmn...
Just be sure you give yourself the instincts and mind of the animal in question, not just the body.
Also, sunbathing as a reptilian, or a cat for that matter, is so much better than as human, at least if you have nerdskin like me which you probably do considering you are on the DF forums.
It's harder than just messing around, and require preparation while awake, but it's SOOO worth it. I know this from some psychological techniques I've tried, but an actual lucid dream should be much more intense an experience.