I have "mastered" Lucid Dreaming. Something interesting to know if you plan on trying Lucid dreaming is it can be different for everyone like weed. Before even hearing of it I would lucid dream at least once a week. But I cannot lucid dream when I am stressed. I simply just don't remember dreaming, or maybe have less. A lot of people say that they don't dream a lot but really the problem is them forgetting the dream even before they wake up.
Sadly now though, I have been much more depressed and stressed due to things I am not willing to say, so now I rarely have lucid dreams unless I do not sleep at my own house. Unless I get high before I go to sleep, but when I do that the dream just feels weird, it is really hard to explain.
EDIT: Yes I have a lot of sex in my Lucid Dreams and it does feel like you are. Let me explain, to me at least I can retain scent and feelings ETC in my dreams. Everything feels like real life, like a good chick is a good chick but in your dreams
, and feels exactly the same to me. I am rambling. I will shut up now.