code reduction for training and eval

reward and everything else changed
again
wont be the last time

ml/MetricsOverlay.py

@@ -44,7 +44,7 @@ class MetricsHUD:
         robot_rewards: List[float],
         cmd_vel: np.ndarray,
         fps: float = 0.0,
-        avg_height: float = 0.0,
+        height: float = 0.0,
         roll_pitch: Tuple[float, float] = (0.0, 0.0)
     ) -> None:
         """Updates floating black text block in 3D space with billboarding."""
@@ -65,7 +65,7 @@ class MetricsHUD:
             f"----------------------\n"
             f"Top Rewards: [{top1}, {top2}, {top3}]\n"
             f"Cmd (X,Y,W): [{vx:+.2f}, {vy:+.2f}, {omega:+.2f}]\n"
-            f"Height:      {avg_height:.3f} m\n"
+            f"Height:      {height:.3f} m\n"
             f"Roll/Pitch:  {roll_pitch[0]:+.1f}° / {roll_pitch[1]:+.1f}°"
         )
 
@@ -76,69 +76,25 @@ class MetricsHUD:
         # Calculate dynamic orientation to align text flat against camera plane
         text_orientation = self._get_camera_facing_orientation()
 
-        if self._text_id is None:
-            self._text_id = p.addUserDebugText(
-                text=hud_text,
-                textPosition=text_position,
-                textColorRGB=text_color,
-                textSize=0.1,
-                textOrientation=text_orientation,
-                physicsClientId=self.client_id
-            )
-        else:
-            self._text_id = p.addUserDebugText(
-                text=hud_text,
-                textPosition=text_position,
-                textColorRGB=text_color,
-                textSize=0.1,
-                textOrientation=text_orientation,
-                replaceItemUniqueId=self._text_id,
-                physicsClientId=self.client_id
-            )
+        # Safely remove the old text to prevent PyBullet ghosting/overlapping
+        if self._text_id is not None:
+            try:
+                p.removeUserDebugItem(self._text_id, physicsClientId=self.client_id)
+            except Exception:
+                pass
+                
+        # Draw fresh text
+        self._text_id = p.addUserDebugText(
+            text=hud_text,
+            textPosition=text_position,
+            textColorRGB=text_color,
+            textSize=0.1,
+            textOrientation=text_orientation,
+            physicsClientId=self.client_id
+        )
 
     def reset(self) -> None:
         """Removes the active debug text item so a new episode starts with a clean overlay."""
-        if self._text_id is not None:
-            try:
-                p.removeUserDebugItem(self._text_id, physicsClientId=self.client_id)
-            except Exception:
-                pass
-        self._text_id = None
-
-
-class LeaderCrown:
-    """Renders a floating crown or star emoji above the leading robot in PyBullet."""
-
-    def __init__(self, physics_client_id: int = 0):
-        self.client_id = physics_client_id
-        self._text_id = None
-
-    def update(self, leader_pos: list[float]):
-        """Positions a floating crown ~0.35m directly above the lead robot's base."""
-        crown_pos = [leader_pos[0], leader_pos[1], leader_pos[2] + 0.35]
-        
-        # You can use "👑 CROWN", "⭐ LEADER", or "★ TOP1"
-        crown_text = "👑"
-
-        if self._text_id is None:
-            self._text_id = p.addUserDebugText(
-                text=crown_text,
-                textPosition=crown_pos,
-                textColorRGB=[1.0, 0.84, 0.0],
-                textSize=2.0,
-                physicsClientId=self.client_id
-            )
-        else:
-            self._text_id = p.addUserDebugText(
-                text=crown_text,
-                textPosition=crown_pos,
-                textColorRGB=[1.0, 0.84, 0.0],
-                textSize=2.0,
-                replaceItemUniqueId=self._text_id,
-                physicsClientId=self.client_id
-            )
-
-    def reset(self):
         if self._text_id is not None:
             try:
                 p.removeUserDebugItem(self._text_id, physicsClientId=self.client_id)