I have cerebral palsy spastic diplegia. So it affects my legs and sometimes my fine motor skills. I walk with two canes. I do things a little slower, but I get things done.
Exploration for an infant means discovering anything about that environment. If that infant needs an opportunity to be brought to them, that's okay. Let an infant explore through their senses, whether it's touch, or smell, or taste, or sight, or hearing.