As soon as I saw Oscar (our cat) heading towards Lucy, I knew I had the prompt tension taken care of. Oscar does this move where he rubs up against Lucy's neck and chest and then he flops down on the ground and rolls over on his back and paws at her.

I think he's trying to engage the dogs in a play session. Lucy wants no part of it....she usually just walks away. Our other dog Charlie sometimes takes the bait and will try to play with Oscar. It usually ends with one of them getting stepped on or freaked out and running off.