Question How to AddReward the smaller torque and angular velocity given in Hingejoint

Now i do learning for a robot arm by this tool.
I have a question about how to give rewards
The smaller the torque and angular velocity given, the more reward i want to give.
How should I write if(~){AddReward(~);} statement?

This is a translation, so the explanation may be difficult to understand.

 

I am not sure I understand the question, but if you are asking how do I add a reward that depends on some input, you can do:

float r = ComputeReward(inputLikeAngularVelocity);
Agent.AddReward(r);

Where ComputeReward is a decreasing function like f: x --> a - b * x where a > 0 and b > 0