I lucid sleep regularly. But lucid dreaming never really gets any more 'lucid' than the knowledge that I am dreaming lingering in the back of my head.
https://en.wikipedia.org/wiki/Lucid_dreamA lucid dream is a dream during which the dreamer is aware of dreaming. During lucid dreaming, the dreamer may be able to exert some degree of control over the dream characters, narrative, and environment.