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I used to have a massive black cat, Pixie, who would sit on the path outside my house waiting for passing Rottweilers and German Shepherds to come by, so that he had chase them and their owners down the street ;-)
However he loved my friend's English Setter. Whenever she took him for a walk past my house, he'd sit down and bark, refusing to move until he'd greeted my cat. Upon hearing his bark, my cat would leap through the cat flap and run to meet him. They'd then spend several minutes rubbing their faces together before the dog would eventually agree to continue with his walk.