Resolved Hinge Joint Control in MLAgent

Hello, I`m working on a rotary inverted pendulum system like this video:

So, I added a hinge component in connection part and agent script to control a targetVelocity

Code (CSharp):

1. using System.Collections;
2. using System.Collections.Generic;
3. using UnityEngine;
4. using Unity.MLAgents;
5. using Unity.MLAgents.Sensors;
6. using Unity.MLAgents.Actuators;
7. using Random = UnityEngine.Random;
8.  
9. public class RLAgent : Agent
10. {
11.     public GameObject targetPendulum;
12.     public GameObject hinge_joint;
13.     Rigidbody m_Rb;
14.     HingeJoint hinge;
15.     JointMotor motor;
16.     JointLimits limits;
17.    
18.     public override void Initialize(){
19.         hinge = hinge_joint.GetComponent<HingeJoint>();
20.         motor = hinge.motor;
21.         limits = hinge.limits;
22.         limits.min = -60;
23.         limits.max = 60;
24.     }
25.  
26.     public override void OnEpisodeBegin(){
27.         motor.force = 100;
28.         motor.targetVelocity = 0;
29.         motor.freeSpin = false;
30.         hinge.motor = motor;
31.     }
32.  
33.     public override void CollectObservations(VectorSensor sensor){
34.         sensor.AddObservation(targetPendulum.transform.localPosition);
35.         sensor.AddObservation(targetPendulum.transform.rotation);
36.         sensor.AddObservation(motor.targetVelocity);
37.         sensor.AddObservation(limits.min);
38.         sensor.AddObservation(limits.max);
39.     }
40.  
41.     public override void OnActionReceived(ActionBuffers actionBuffers){
42.         var continuousActions = actionBuffers.ContinuousActions;
43.         var velocityValue = Mathf.Clamp(continuousActions[0], -1f, 1f) * 30f;
44.         motor.targetVelocity = velocityValue;
45.  
46.         AddReward(targetPendulum.transform.localPosition.y);
47.     }
48.  
49.     void FixedUpdate(){
50.         AddReward(-0.001f);
51.     }
52. }

But, the hinge joint does not work.
What am I missing? Thank you!