It's going to be pretty difficult to get completely undressed. At least, it will be for Luke, straddling Cal as he is. He does ditch his belt and overlays and then gets his tunic open before he comes to the disappointing realisation that he does need to move away.

It comes through the link, the need to get naked, to move to do so, regret at moving away, wanting to get undressed. And then he slides back and off Cal's lap, watching his face as he finishes stripping himself down to naked.