Olivier Michel

> Sounds like an gcc issue https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129 Yes, luckily the fix is very simple: remove `-isystem /mingw64/include`. I just applied it [here](https://github.com/cyberbotics/webots/pull/4249) so that we can compile our application again....

Yes, please send to [email protected].

> I think this is currently a limitation. URDF geometry tags (with obj files) are converted to Webots Mesh nodes, which as the name implies discards both textures and materials...

Yes, we actually implemented the [CadShape](https://www.cyberbotics.com/doc/reference/cadshape?version=R2022b) node in Webots R2022b to be released very soon. That should resolve the issue.

It seems there is still one unresolved conversation. Not sure if it was addressed.

Yes, this is a very good idea. We should probably start drafting it here to define its content and see how this would help overcome a number of problems.

Yes, that's a very good approach, simple and scalable. Feel free to go ahead and start the implementation. We will be happy to review it.

I am not sure this is the best way to address the problem. Adding a dummy physics-enable object will cause other problems, including performance drop and instability due to this...

Note: Webots has a mechanism called Solid merger that avoids to create fixed joints. Instead, it multiplies transforms to merge them together into a single Solid, adding masses of each...

> Or somethink like here could be done: https://github.com/cyberbotics/webots/blob/a05248b57540c72651f7353dfd34718c8ffaceba/src/webots/nodes/WbAccelerometer.cpp#L154 Yes, this is exactly what I meant. I believe this is way to go.