So it is not the body that explores the world. It is the Sensorimotor Self that explores the world. It expresses itself through the body to get its work done. It's hard to say for sure because we have no clean examples. But consider dreams.
Dreams are expressions of consciousness without a body.
Yet dreams always have physical movement as a major component of their content. We dream of running, or flying, or riding in a vehicle. These dream images or ideas are expressions of sensorimotor consciousness disconnected from the physical body. You can't actually explore or perceive anything in great detail in a dream. I can't do it.