That means if kaya rupa are involved sukha or dukha vedana can directly arise. But if the sense input contains only cakkhu, sota, ghana, jivha rupa and dhamma then upekkha vedana will arise. Is that correct?
That is also said here: https://puredhamma.net/living-dhamma/what-is-vedana-feelings/does-bodily-pain-arise-only-due-to-kamma-vipaka/