How would you rig up somthing like this?

Hello, any help with this has my thanks, I'm currently thinking up ideas of a scene to do as an environment piece in UDK. I want to have a robot in a room interacting with objects in the room but I want them to spawn in. I'm just not sure how to set all this up, the robot would then pick up the tube and place it in a factory line up, and will continue to do this as new objects spawn in.

The spawning in doesn't seem to hard, but having the robot be able to pick up the newly spawned objects seems to be beyond my knowledge. If any one could help me out or lead me in the right direction to how to go about setting this up it would be much appreciated, thanks.