> requires the ability to sense the physical environment
Aren't those two statements at odds? Your synapses are made of matter, so sensing the physical environment is being done by matter. You are fundamentally matter (AFAIK). To suggest otherwise the only thing that comes to mind is substance dualism.
My position is that we don't know. I know I'm conscious. I assume other humans are simply because they're approximately the same as me and were produced by the same process. The farther you get from humans the less certain I am. Many insects resemble biological automatons if you examine them closely. Certainly single celled organisms don't seem likely to have anything going on.
If you figure that a clod of dirt can't possibly be conscious but a mouse is, what's the relevant physical difference? Electricity? Computers have that. Complexity? Information density? Both of those as well.
What do you think it means to sense?