No direct contact
We never in contact directly with What Is, we have it only through our sensory input.
We navigate the world through our internal representation of it which our brain is continuously maintained since birth (a map).
Some fundamental parts of the map (like properties of the environment) and the machinery to enlarge and refine the maps has been hard-wired into out genetic code by the process of evolution.
This reflects the major postulate (or premise) of a proper philosophy, namely, that Reality Is and it comes first.