Most of the PlayMate's behaviour will involve acting on the inanimate objects in its environment. It should be able to touch, push, pull, grasp, pick up and put down a selection of objects. The manner of the actions need not be specified in advance. In particular we do not necessarily require the actions of the robot to be initially fast or smooth. Such abilities may come later as skills are learned. It is important that the actions are not performed ballistically, otherwise the PlayMate will have very little control over its abilities in a dynamic environment.