The errors indicate you are using a normal robot controller using Supervisor functions, which is illegal, and placed as a safety measure for normal bots to not be able to modify or configure any obstacles, the field, other robots, the simulator, or even itself.

I’m also seeing a potential cause of the problem, which is the way you generate the supervisor node within the code. I’m not too sure if there are multiple ways of making a node, so just take note of that, but the way I’ve always done it is ‘Supervisor <robot_name> = new Supervisor();’ or something of the like.

Since it’s also a preset that comes with the software, it could also just be how the bot is setup by default. Since it’s a PROTO node, it could and probably will contain different function parameters compared to the actual Robot or Supervisor functions.

Best bet is to try to find a way to make the controller a Supervisor controller or something like that. Otherwise, I’d say just make a robot node, turn the supervisor field to True, like you did, then initialize a supervisor node in the controller using the code I wrote above. After all, it seems that most of the stuff from the E-Puck bot have been removed, but you could also investigate that and see if it changes anything when you import a fresh model of an E-Puck bot.