DDPG with HER Question


While Reading the Hindsight Replay Paper, I was trying to get an understanding of Multugoal.
I have an example problem that I would like to apply the HER algorithm.

Suppose I have a robotic arm which is trying to grab an Egg. So there are 2 objectives , one is move the arm to the desired location of the egg. Also to apply gentle grip so that it doesn’t break the egg and create a mess. How can I define the problem in HER format?