In this short essay I respond to the criticism of Action in Perception (2004) advanced by Ryan Hickerson and Fred Keijzer. In particular, I provide a brief precis of the main argument of Action in Perception. I seek to clarify the claims made in the book about the relation between perception and action, the importance of sensorimotor knowledge. I discuss the problem of "sensorimotor chauvinism," that of the "ping-pong playing robot," and the problem of perceptual presence.