Here is the playground

At the beginning, the robot does not know
that it might be interesting to look in the same
direction as that of its bashing movement

The robot opens and close his mouth, but
does not know yet when it will result in actually
getting something in the mouth

The robot discovers one way of getting
something in the mouth !

The robot pushes the blue object, put does
not notice it since it has no touch sensor, and
his visual and IR sensors are turned in the
wrong direction

Here is a situation in which he successfully
bash an object and detects with its IR sensors
that it has actually been bashed