As long as you are watching where she can't get into danger, I think that it is only positive to let her out to play.
Mack hanging out with Dolly and Marbles.
I have a snake room that's off limits to the cats, and I just sit in there and watch her when I take her out. Neat that your dog and cat don't seem to care. Pretty sure my three demon kittens would think the snakes were toys.