I think it means exactly what it says. I think they are simply talking about experiencing and exploring life’s little adventures. When I was a kid there were these huge rocks in the parks in NYC. We use to love to explore them and climb all over them. We always ended up with bumps and scrapes. Well until we got bigger and better at climbing them. It didn’t matter how many lumps or bumps or scrapes we got. We would faithfully return to them every time. It was a great joy to explore and challenge our abilities and adapt to different parts that were harder to climb. So I suppose it could mean, have you ever challenged yourself.
Or it could mean, have you ever climbed on someone as stupid as a real rock