Hello, I'm guessing when tou say you want them to be more physical, you mean the things in the dream itself? (and not the WILD process being physical)
Everything in your dream is all in your mind, and limited by your own imagination. You can try dream incubation to create your preferred dream scenes beforehand.
http://www.dreamviews.com/f45/dream-...torial-130133/
When you get lucid, also try to use your senses as much as you can. Touch objects and feel things as much as you can. This can help you engage your senses and give you a more vivid experience.
Good luck!
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