We will never understand the world as it "is". The means with which we perceive the world are flawed, and so it stands that our perceptions are flawed.
All our senses are lame. Our eyes can perceive only a fraction of the electromagnetic spectrum and our ears can catch only a small window of frequencies. Our sense of touch is utilitarian at best and dogs have a better sense of smell than us.
(As for taste, I don't find it relevant).