An APDS-9960 RGB and gesture sensor acts as a low level machine vision to recognize gestures and colors of objects. The image below shows the hooked up sensor. A bi-directional logic level converter is needed for 5 V micro-controllers, because the APDS-9960 works only with a VCC of 2.4 - 3.6 V.

Wiring diagram:

Sensor mounted on Murphy's head:

Backside of the torso with Arduino Mega, servo power supply and EMIC-2 carrier board: