I've done a sort of variant I guess. It wasn't a lucid dream per se, but years ago when I was living in Boston I had got to thinking about nightmares and how it had been years since I'd had one. Since childhood really. I thought about how emotionally charged and frightening they were to have such an impact that they often forced you out of sleep.

I hypothesized that the reason I hadn't had one in so long was because I generally did not have much anxiety in my daily life. I don't know if that was the reason or not, but I decided I was going to change that.

I was going to give myself a nightmare.

So I committed to meditating each evening on the cusp of sleep, - really focusing on what few anxieties I did have and trying to imagine worst case scenarios playing out. I dwelt on morbid thoughts. I played Bone Machine by Tom Waits in the darkness. This went on for about a week and a half before I succeeded. I had the most mind-shattering terrifying fucking nightmare of my entire fucking life and it wasn't even close.

I literally woke up screaming. Full throat screaming. I won't go into the whole dream but it ended with me tripping on the stairs of my house in the darkness and landing on the top step, cheek to cheek with the warm severed head of my best friend in a plastic bag. I have to say though, I felt satisfied when I laid back down having accomplished my mission, and in such a big way.