My cat has been like that most of the 10 years we've been together, but now that she's lost half of her body weight (she's almost 17 and winding down, though her kidney issues are stable and she's eating again), she does sometimes curl up on my lap or sit on a cushiony pile of laundry. The first time she sat on my lap, I was so shocked I was convinced that the end was near and she was saying goodbye. Even now though, what she prefers is for me to lean back enough she can climb up on my collarbone and sit on that part of my chest or she'll sit across the top of my thighs. She really doesn't like soft and squishy even now, but is mellowing some with old age.