desire comprises appetitive desire, spirited desire, and wish. And all animals have at least one of the senses, touch. For that which has perception, there is both pleasure and pain… for this is desire for the pleasant.
Lorenz cites Aristotle’s De Anima to establish that appetitive desire is the desire for the pleasant and is co-extensive with the capacity for perception in all animals, forming the broadest and most fundamental type within the tripartite taxonomy of orexis.
, The Brute Within: Appetitive Desire in Plato and Aristotle, 2006thesis