Your generated reward function is: {reward_function}
Meet execution error: {traceback_msg}

Please fix the bug and provide a reward function to compile correctly.
First, describe the design idea and main steps of your reward function in one sentence.
The description must be inside a brace outside the code implementation.
Next, write a reward function based on this idea. The output of the reward function should consist of two items:
    (1) the total reward,
    (2) a dictionary of each individual reward component.
The code output should be formatted as a python code string: "```python ... ```".
Do not give additional explanations.