def _reward_feet_air_time(self):

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def _reward_feet_air_time(self):
    # Reward long steps
    # Need to filter the contacts because the contact reporting of PhysX is unreliable on meshes
    contact = self.contact_forces[:, self.feet_indices, 2] > 1.
    contact_filt = torch.logical_or(contact, self.last_contacts) 
    self.last_contacts = contact
    first_contact = (self.feet_air_time > 0.) * contact_filt
    self.feet_air_time += self.dt
    rew_airTime = torch.sum((self.feet_air_time - 0.5) * first_contact, dim=1) # reward only on first contact with the ground
    rew_airTime *= torch.norm(self.commands[:, :2], dim=1) > 0.1 #no reward for zero command
    self.feet_air_time *= ~contact_filt
    return rew_airTime

This function will generate rewards both when it touches the ground and when it leaves the ground, not just when it touches the ground.

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Hello
I want to know if my understanding is correct.