Sounds like you're having False Awakenings, and performing RCs to become lucid. At its most basic, this is a DILD...since FAs are just a type of dream. So really it's a dream induced lucid dream. Some people might get fancy and call it a FALD (False Awakening Lucid Dream) or something along those lines, but really it all comes down to the same thing. Also, that really heavy feeling you are experiencing is similar to waking up into Sleep Paralysis. It will feel like gravity is super strong, and it's difficult to lift your head or sit up. Basically you can wake up into SP and experience an FA.
Anyways, congrats on getting lucid, and good job on using RCs and verbal commands to stabilize the dream. You might even want to try staring closely at your hands (look at all the tiny wrinkles and details), it is the thing that works absolutely best for me to increase lucidity/clarity and extend the LD as long as I need to.
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