This code is part of a joint research by M. Mannone, V. Seidita, and A. Chella. The Jupyter codes are original (© M. Mannone). The Webots code has been adapted from points 2 and 3 of https://github.com/albertbrucelee/webots-e-puck_robot-tutorial.
For any question, please email mariacaterina.mannone@community.unipa.it.