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Well, I recently had a lucid dream where I needed to get to the top of a wall.

I visualised a ladder, just as I would imagine one in my mind's eye in the waking world.

The difference was, having imagined it, the ladder promptly appeared in the dream and fell on me.

So I'd say, yeah, you can do it. But be careful about it

Some people claim they did...
But that will never replace first-hand experience.