Long ago when I learned about lucid dreams I was fascinated by them and sought to try to induce them. Over the years I've had quite a few. I can't definitely force one to happen on any particular night. If you have never had one, you actually wake up or become aware you are in a dream. The absolute best lucid dreams are where everything is so vivid, you are astounded you are in a dream and not actually awake and that you can control things.
I wonder and hope, that in my lifetime, something may be developed that allows us to have them at will and if fully awake, then it would be amazing.