diff --git a/webots/controllers/Supervisor/temp.py b/webots/controllers/Supervisor/temp.py
deleted file mode 100644
index 10b7d06c..00000000
--- a/webots/controllers/Supervisor/temp.py
+++ /dev/null
@@ -1,206 +0,0 @@
-"""Supervisor controller.
-    Details: https://github.com/cyberbotics/webots/blob/master/docs/guide/supervisor-programming.md
-"""
-
-import math
-import sys
-from dataclasses import dataclass
-from controller import Supervisor  # pylint: disable=import-error
-from robot_observer import RobotObserver, has_position_changed, has_orientation_changed
-
-# The PROTO DEF name must be given!
-ROBOT_NAME = "ROBOT"
-
-# The supervisor receiver name.
-SUPERVISOR_RX_NAME = "serialComRx"
-
-
-def serial_com_read(serial_com_rx_device):
-    """Read from serial communication device.
-
-    Args:
-        serial_com_rx_device (obj): Serial COM device
-
-    Returns:
-        Union[str, None]: Received data or None.
-    """
-    rx_data = None
-
-    if serial_com_rx_device.getQueueLength() > 0:
-        rx_data = serial_com_rx_device.getString()
-        serial_com_rx_device.nextPacket()
-
-    return rx_data
-
-
-def rad_to_deg(angle_rad):
-    """Convert angle in rad to degree.
-
-    Args:
-        angle_rad (float): Angle in rad
-
-    Returns:
-        float: Angle in degree
-    """
-    return angle_rad * 180 / math.pi
-
-
-def convert_angle_to_2pi(angle):
-    """Convert angle from range [-PI; PI] in rad to [0; 2PI].
-
-    Args:
-        angle (float): Angle in rad, range [-PI; PI].
-
-    Returns:
-        float: Angle in rad, range [0; 2PI]
-    """
-    if angle < 0:
-        angle += 2 * math.pi
-
-    return angle
-
-
-def convert_webots_angle_to_ru_angle(webots_angle):
-    """Convert Webots angle to RadonUlzer angle.
-
-    Args:
-        webots_angle (float): Webots angle in rad, range [-PI; PI].
-
-    Returns:
-        float: Angle in rad, range [-2PI; 2PI]
-    """
-    # Radon Ulzer
-    #   Angle [-2PI; 2PI]
-    #   North are 90° (PI/2)
-    #
-    # Webots angle [-PI; PI]
-    webots_angle += math.pi / 2
-
-    webots_angle_2pi = convert_angle_to_2pi(webots_angle)
-
-    # TO DO Handling the negative range.
-
-    return webots_angle_2pi
-
-
-@dataclass
-class OdometryData():
-    """Odometry data container.
-    """
-    x: int = 0
-    y: int = 0
-    yaw_angle: float = 0
-
-    def reset(self):
-        """Reset odometry data.
-        """
-        self.x = 0
-        self.y = 0
-        self.yaw_angle = 0
-
-
-# pylint: disable=too-many-branches
-# pylint: disable=too-many-statements
-# pylint: disable=too-many-locals
-def main_loop():
-    """Main loop:
-        - Perform simulation steps until Webots is stopping the controller-
-
-    Returns:
-        number: Status
-    """
-    status = 0
-
-    # Create the Supervisor instance.
-    supervisor = Supervisor()
-
-    # Get the time step of the current world.
-    timestep = int(supervisor.getBasicTimeStep())
-
-    # Enable supervisor receiver to receive any message from the robot or other
-    # devices in the simulation.
-    supervisor_com_rx = supervisor.getDevice(SUPERVISOR_RX_NAME)
-
-    if supervisor_com_rx is None:
-        print(
-            f"No supervisor communication possible, because {SUPERVISOR_RX_NAME} not found.")
-    else:
-        supervisor_com_rx.enable(timestep)
-
-    # Get robot node which to observe.
-    robot_node = supervisor.getFromDef(ROBOT_NAME)
-
-    if robot_node is None:
-
-        print(f"Robot DEF {ROBOT_NAME} not found.")
-        status = -1
-
-    else:
-        robot_observer = RobotObserver(robot_node)
-
-        # Set current position and orientation in the map as reference.
-        robot_observer.set_current_position_as_reference()
-        robot_observer.set_current_orientation_as_reference()
-
-        robot_position_old = robot_observer.get_rel_position()
-        robot_orientation_old = robot_observer.get_rel_orientation()
-        robot_odometry = OdometryData()
-
-        while supervisor.step(timestep) != -1:
-            if supervisor_com_rx is not None:
-                rx_data = serial_com_read(supervisor_com_rx)
-
-                if rx_data is None:
-                    pass
-
-                else:
-                    command = rx_data.split(',')
-
-                    # Reset robot position and orientation?
-                    if command[0] == "RST":
-                        print("RST")
-                        robot_observer.set_current_position_as_reference()
-                        robot_observer.set_current_orientation_as_reference()
-                        robot_odometry.reset()
-
-                    # Robot odometry data received?
-                    elif command[0] == "ODO":
-                        robot_odometry.x = int(command[1])  # [mm]
-                        robot_odometry.y = int(command[2])  # [mm]
-                        robot_odometry.yaw_angle = float(
-                            command[3]) / 1000.0  # [rad]
-
-                    # Unknown command.
-                    else:
-                        print(f"Unknown command: {command[0]}")
-
-            robot_position = robot_observer.get_rel_position()
-            robot_orientation = robot_observer.get_rel_orientation()
-
-            any_change = has_position_changed(
-                robot_position, robot_position_old)
-
-            if any_change is False:
-                any_change = has_orientation_changed(
-                    robot_orientation, robot_orientation_old)
-
-            if any_change is True:
-
-                robot_yaw_angle = robot_orientation[2]
-                yaw_ru_angle = convert_webots_angle_to_ru_angle(
-                    robot_yaw_angle)
-
-                print(f"{int(robot_position[0])}, ", end="")
-                print(f"{int(robot_position[1])}, ", end="")
-                print(f"{int(rad_to_deg(yaw_ru_angle))} / ", end="")
-                print(f"{robot_odometry.x}, ", end="")
-                print(f"{robot_odometry.y}, ", end="")
-                print(f"{int(rad_to_deg(robot_odometry.yaw_angle))}")
-
-                robot_position_old = robot_position
-                robot_orientation_old = robot_orientation
-
-    return status
-
-
-sys.exit(main_loop())
\ No newline at end of file