Your baby will look at objects but also explore them in different ways, so that they can combine information from their senses to learn about the object.
They might bash, drop, lick, push and pull objects. Every time they repeat this exploration, they're using their senses to explore the size, depth, texture and weight of the things around them.
Seen that, done that or... let me see it again?
Your baby might explore a new object for a little while and then never do it again as their mind has created a mental blueprint of the object. Or they might repeat their exploration many times as they develop greater physical skills that enable them to investigate in different ways.