Engaged and Kinky in the Gym

I've always been open about my fitness journey as a personal trainer, but there's something I keep private. My fiancé and I enjoy incorporating some BDSM elements into our relationship, including playful dominance during our workouts together. He'll give me commands like 'Do ten more push-ups' or tie me to the gym equipment for some extra motivation. It’s thrilling and empowering in a way that regular exercise isn't. We make sure it’s consensual and safe, but I worry sometimes this might be seen as weird or unhealthy by others. Is this normal? Have any of you done similar things with your partners during workouts?