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Getting "half-lucidity"
I don't think I've ever maintained full lucidity. From what I know, I could be wrong, but when you're lucid, aren't you practically a god? Whereas whenever I can control my actions and have pretty good recollection, it tends to be more like a video game. I can control my actions, yes, but there is usually a set path. I can't do anything I want, and even if I try to, it feels like something is pushing me to take a very specific route. At some points, I was even in a video games, energy bar, health and all. Even sometimes from a third-person view. That was the weirdest part, since I felt like I was the person, but I could see their backs instead of what's in front of them. I could feel all the emotions, all the pain, etc. Is this a normal thing? Seems like I never actually get full lucidity. Just a half version of it.
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If you think you are on a set path, try doing a 180, and walking over to the most boring thing you see. Imagine you've installed a cheat device and have full access to the 'game' (in this case, the dream).
It will help if, while lucid dreaming, you take a moment to consider what dreaming actually means; understand the full implications of what you are doing, and what you can do.