You said, "Because we don't perceive our environment directly but mediated by our body so we don't know what the environment is like. "
Why do you think that perceiving through body does not give knowledge of environment? How come we are able to walk mostly without bumping in to things?
Planets mostly orb around suns so there may be a good reason that our bodies don't bump into things, mostly, and science might be able to offer some theory about bony bodies as it does about heavenly ones. Let's say it's the way nature works. However, any consideration we may have about nature, about our environment, about our bodies and how well they negotiate the mechanics of not bumping into things, has to come through our bodies' representation of our environment, if any. Mostly not bumping is in itself a fact of our mental representations, not a fact of an environment we don't have a direct access to. If there is such a thing as our environment it may also be true that there is something which is some sort of counterpart to our impression that we don't bump into things. Yet, as we don't have access to this counterpart, because it seems to be in our environment, if any, we don't actually know what it is.
One could perhaps try to argue that our body does know. Yet we don't know our body to start with. Or maybe we do, i.e. perhaps our subjective experience is actually a part of our body, but even if this is so we don't know that this is. Well, I certainly don't and it doesn't seem necessary that I did.
Again, I would note that knowledge is not necessary. What is necessary is that nature, if nature there is, is such that our bodies mostly don't bump into things. Maybe this involves some sort of knowledge but if computers can negotiate the dynamic trajectory of probes such that they don't bump into things when it's required that they don't, we don't know that there are things to bump into to begin with just as we sometimes don't know that there is something to bump into, and we do bump into it, unwillingly.
EB