diff --git a/src/robot_dart/utils.hpp b/src/robot_dart/utils.hpp
index 7e92643c..bb0ec489 100644
--- a/src/robot_dart/utils.hpp
+++ b/src/robot_dart/utils.hpp
@@ -48,12 +48,12 @@ namespace robot_dart {
         std::cerr << "[robot_dart WARNING]: \"" << message << "\"" << std::endl; \
     }
 
-#define ROBOT_DART_ASSERT(condition, message, returnValue)                        \
-    do {                                                                          \
-        if (!(condition)) {                                                       \
-            std::cerr << "robot_dart assertion failed: " << message << std::endl; \
-            return returnValue;                                                   \
-        }                                                                         \
+#define ROBOT_DART_ASSERT(condition, message, returnValue)                                                           \
+    do {                                                                                                             \
+        if (!(condition)) {                                                                                          \
+            std::cerr << __LINE__ << " " << __FILE__ << " -> robot_dart assertion failed: " << message << std::endl; \
+            return returnValue;                                                                                      \
+        }                                                                                                            \
     } while (false)
 
 #define ROBOT_DART_EXCEPTION_ASSERT(condition, message) \
diff --git a/waf_tools/boost.py b/waf_tools/boost.py
index d5ada8ee..0a8f1dd1 100644
--- a/waf_tools/boost.py
+++ b/waf_tools/boost.py
@@ -32,8 +32,8 @@ def build(bld):
 from waflib import Utils, Logs
 from waflib.Configure import conf
 
-BOOST_LIBS = ['/usr/lib', '/usr/local/lib', '/opt/local/lib', '/sw/lib', '/lib', '/usr/lib/x86_64-linux-gnu/', '/opt/homebrew/lib']
-BOOST_INCLUDES = ['/usr/include', '/usr/local/include', '/opt/local/include', '/sw/include', '/opt/homebrew/include']
+BOOST_LIBS = ['/usr/lib', '/usr/local/lib64', '/usr/local/lib', '/opt/local/lib', '/sw/lib', '/lib', '/usr/lib64', '/usr/lib/x86_64-linux-gnu/', '/usr/local/lib/x86_64-linux-gnu/', '/usr/lib/aarch64-linux-gnu/', '/usr/local/lib/aarch64-linux-gnu/', '/opt/homebrew/lib']
+BOOST_INCLUDES = ['/usr/local/include', '/usr/include', '/opt/local/include', '/sw/include', '/opt/homebrew/include']
 BOOST_VERSION_FILE = 'boost/version.hpp'
 BOOST_VERSION_CODE = '''
 #include <iostream>
diff --git a/waf_tools/corrade.py b/waf_tools/corrade.py
index 1947073f..88372226 100644
--- a/waf_tools/corrade.py
+++ b/waf_tools/corrade.py
@@ -38,7 +38,7 @@ def find_in_string(data, text):
         return
 
     includes_check = ['/usr/local/include', '/usr/include', '/opt/local/include', '/sw/include', '/opt/homebrew/include']
-    libs_check = ['/usr/lib', '/usr/local/lib', '/opt/local/lib', '/sw/lib', '/lib', '/usr/lib/x86_64-linux-gnu/', '/usr/lib64', '/opt/homebrew/lib']
+    libs_check = ['/usr/lib', '/usr/local/lib64', '/usr/local/lib', '/opt/local/lib', '/sw/lib', '/lib', '/usr/lib64', '/usr/lib/x86_64-linux-gnu/', '/usr/local/lib/x86_64-linux-gnu/', '/usr/lib/aarch64-linux-gnu/', '/usr/local/lib/aarch64-linux-gnu/', '/opt/homebrew/lib']
     bins_check = ['/usr/bin', '/usr/local/bin', '/opt/local/bin', '/sw/bin', '/bin', '/opt/homebrew/bin']
 
     # OSX/Mac uses .dylib and GNU/Linux .so
diff --git a/waf_tools/dart.py b/waf_tools/dart.py
index ab03a6c4..dce00651 100644
--- a/waf_tools/dart.py
+++ b/waf_tools/dart.py
@@ -33,16 +33,16 @@ def get_directory(filename, dirs):
         includes_check = [conf.options.dart + '/include']
         libs_check = [conf.options.dart + '/lib']
     else:
-        includes_check = ['/usr/local/include', '/usr/include', '/opt/homebrew/include']
-        libs_check = ['/usr/local/lib', '/usr/local/lib64', '/usr/lib', '/usr/lib64', '/usr/lib/x86_64-linux-gnu/', '/opt/homebrew/lib']
+        includes_check = ['/usr/local/include', '/usr/include', '/opt/local/include', '/sw/include', '/opt/homebrew/include']
+        libs_check = ['/usr/lib', '/usr/local/lib64', '/usr/local/lib', '/opt/local/lib', '/sw/lib', '/lib', '/usr/lib64', '/usr/lib/x86_64-linux-gnu/', '/usr/local/lib/x86_64-linux-gnu/', '/usr/lib/aarch64-linux-gnu/', '/usr/local/lib/aarch64-linux-gnu/', '/opt/homebrew/lib']
 
         if 'RESIBOTS_DIR' in os.environ:
             includes_check = [os.environ['RESIBOTS_DIR'] + '/include'] + includes_check
             libs_check = [os.environ['RESIBOTS_DIR'] + '/lib'] + libs_check
 
     # DART has some optional Bullet features
-    bullet_check = ['/usr/local/include/bullet', '/usr/include/bullet', '/opt/homebrew/include/bullet']
-    bullet_libs = ['/usr/local/lib', '/usr/local/lib64', '/usr/lib', '/usr/lib64', '/usr/lib/x86_64-linux-gnu/', '/opt/homebrew/lib']
+    bullet_check = ['/usr/local/include/bullet', '/usr/include/bullet', '/opt/local/include/bullet', '/sw/include/bullet', '/opt/homebrew/include/bullet', '/usr/local/include', '/usr/include', '/opt/local/include', '/sw/include', '/opt/homebrew/include']
+    bullet_libs = ['/usr/lib', '/usr/local/lib64', '/usr/local/lib', '/opt/local/lib', '/sw/lib', '/lib', '/usr/lib64', '/usr/lib/x86_64-linux-gnu/', '/usr/local/lib/x86_64-linux-gnu/', '/usr/lib/aarch64-linux-gnu/', '/usr/local/lib/aarch64-linux-gnu/', '/opt/homebrew/lib']
     bullet_include = []
     bullet_lib = []
     bullet_found = False
@@ -57,8 +57,8 @@ def get_directory(filename, dirs):
         bullet_found = False
 
     # DART has some optional ODE features
-    ode_check = ['/usr/local/include', '/usr/include', '/opt/homebrew/include']
-    ode_libs = ['/usr/local/lib', '/usr/local/lib64', '/usr/lib', '/usr/lib64', '/usr/lib/x86_64-linux-gnu/', '/opt/homebrew/lib']
+    ode_check = ['/usr/local/include', '/usr/include', '/opt/local/include', '/sw/include', '/opt/homebrew/include']
+    ode_libs = ['/usr/lib', '/usr/local/lib64', '/usr/local/lib', '/opt/local/lib', '/sw/lib', '/lib', '/usr/lib64', '/usr/lib/x86_64-linux-gnu/', '/usr/local/lib/x86_64-linux-gnu/', '/usr/lib/aarch64-linux-gnu/', '/usr/local/lib/aarch64-linux-gnu/', '/opt/homebrew/lib']
     ode_include = []
     ode_lib = []
     ode_found = False
@@ -73,8 +73,8 @@ def get_directory(filename, dirs):
         ode_found = False
 
     # DART has some optional Octomap dependency
-    octomap_check = ['/usr/local/include', '/usr/include', '/opt/homebrew/include']
-    octomap_libs = ['/usr/local/lib', '/usr/local/lib64', '/usr/lib', '/usr/lib64', '/usr/lib/x86_64-linux-gnu/', '/opt/homebrew/lib']
+    octomap_check = ['/usr/local/include', '/usr/include', '/opt/local/include', '/sw/include', '/opt/homebrew/include']
+    octomap_libs = ['/usr/lib', '/usr/local/lib64', '/usr/local/lib', '/opt/local/lib', '/sw/lib', '/lib', '/usr/lib64', '/usr/lib/x86_64-linux-gnu/', '/usr/local/lib/x86_64-linux-gnu/', '/usr/lib/aarch64-linux-gnu/', '/usr/local/lib/aarch64-linux-gnu/', '/opt/homebrew/lib']
     if 'ROS_DISTRO' in os.environ:
         octomap_check.append('/opt/ros/' + os.environ['ROS_DISTRO'] + '/include')
         octomap_libs.append('/opt/ros/' + os.environ['ROS_DISTRO'] + '/lib')
diff --git a/waf_tools/eigen.py b/waf_tools/eigen.py
index a071784c..c833069d 100644
--- a/waf_tools/eigen.py
+++ b/waf_tools/eigen.py
@@ -45,7 +45,7 @@ def check_eigen(conf, *k, **kw):
     def get_directory(filename, dirs):
         res = conf.find_file(filename, dirs)
         return res[:-len(filename)-1]
-    includes_check = ['/usr/include/eigen3', '/usr/local/include/eigen3', '/usr/include', '/usr/local/include', '/opt/homebrew/include', '/opt/homebrew/include/eigen3']
+    includes_check = ['/usr/include/eigen3', '/usr/local/include/eigen3', '/opt/local/include/eigen3', '/sw/include/eigen3', '/opt/homebrew/include/eigen3', '/usr/local/include', '/usr/include', '/opt/local/include', '/sw/include', '/opt/homebrew/include']
 
     required = kw.get('required', False)
     min_version = kw.get('min_version', (3,3,3))
diff --git a/waf_tools/magnum.py b/waf_tools/magnum.py
index 7adb2269..16b4d8f3 100644
--- a/waf_tools/magnum.py
+++ b/waf_tools/magnum.py
@@ -117,7 +117,7 @@ def fatal(required, msg):
         return
 
     includes_check = ['/usr/local/include', '/usr/include', '/opt/local/include', '/sw/include', '/opt/homebrew/include']
-    libs_check = ['/usr/lib', '/usr/local/lib', '/opt/local/lib', '/sw/lib', '/lib', '/usr/lib/x86_64-linux-gnu/', '/usr/lib64', '/opt/homebrew/lib']
+    libs_check = ['/usr/lib', '/usr/local/lib64', '/usr/local/lib', '/opt/local/lib', '/sw/lib', '/lib', '/usr/lib64', '/usr/lib/x86_64-linux-gnu/', '/usr/local/lib/x86_64-linux-gnu/', '/usr/lib/aarch64-linux-gnu/', '/usr/local/lib/aarch64-linux-gnu/', '/opt/homebrew/lib']
     bins_check = ['/usr/bin', '/usr/local/bin', '/opt/local/bin', '/sw/bin', '/bin', '/opt/homebrew/bin']
     if conf.env['DEST_OS'] == 'darwin':
         includes_check = includes_check + ['/System/Library/Frameworks/OpenGL.framework/Headers', '/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk/System/Library/Frameworks/OpenGL.framework/Versions/A/Headers/']
diff --git a/waf_tools/magnum_integration.py b/waf_tools/magnum_integration.py
index db72dfe5..4425f5a2 100644
--- a/waf_tools/magnum_integration.py
+++ b/waf_tools/magnum_integration.py
@@ -97,7 +97,7 @@ def find_in_string(data, text):
         return
 
     includes_check = ['/usr/local/include', '/usr/include', '/opt/local/include', '/sw/include', '/opt/homebrew/include']
-    libs_check = ['/usr/lib', '/usr/local/lib', '/opt/local/lib', '/sw/lib', '/lib', '/usr/lib/x86_64-linux-gnu/', '/usr/lib64', '/opt/homebrew/lib']
+    libs_check = ['/usr/lib', '/usr/local/lib64', '/usr/local/lib', '/opt/local/lib', '/sw/lib', '/lib', '/usr/lib64', '/usr/lib/x86_64-linux-gnu/', '/usr/local/lib/x86_64-linux-gnu/', '/usr/lib/aarch64-linux-gnu/', '/usr/local/lib/aarch64-linux-gnu/', '/opt/homebrew/lib']
     bins_check = ['/usr/bin', '/usr/local/bin', '/opt/local/bin', '/sw/bin', '/bin', '/opt/homebrew/bin']
 
     # Magnum depends on several libraries and we cannot make the assumption that
diff --git a/waf_tools/magnum_plugins.py b/waf_tools/magnum_plugins.py
index d96e4109..09c79ea2 100644
--- a/waf_tools/magnum_plugins.py
+++ b/waf_tools/magnum_plugins.py
@@ -103,7 +103,7 @@ def find_in_string(data, text):
         return
 
     includes_check = ['/usr/local/include', '/usr/include', '/opt/local/include', '/sw/include', '/opt/homebrew/include']
-    libs_check = ['/usr/lib', '/usr/local/lib', '/opt/local/lib', '/sw/lib', '/lib', '/usr/lib/x86_64-linux-gnu/', '/usr/lib64', '/opt/homebrew/lib']
+    libs_check = ['/usr/lib', '/usr/local/lib64', '/usr/local/lib', '/opt/local/lib', '/sw/lib', '/lib', '/usr/lib64', '/usr/lib/x86_64-linux-gnu/', '/usr/local/lib/x86_64-linux-gnu/', '/usr/lib/aarch64-linux-gnu/', '/usr/local/lib/aarch64-linux-gnu/', '/opt/homebrew/lib']
     bins_check = ['/usr/bin', '/usr/local/bin', '/opt/local/bin', '/sw/bin', '/bin', '/opt/homebrew/bin']
 
     # Magnum depends on several libraries and we cannot make the assumption that
diff --git a/waf_tools/pybind.py b/waf_tools/pybind.py
index 5adf680c..90a606d4 100644
--- a/waf_tools/pybind.py
+++ b/waf_tools/pybind.py
@@ -18,7 +18,7 @@ def check_pybind11(conf, *k, **kw):
     required = kw.get('required', False)
 
     conf.start_msg('Checking for pybind11')
-    includes_check = ['/usr/include/', '/usr/local/include/', '/opt/homebrew/include']
+    includes_check = ['/usr/local/include', '/usr/include', '/opt/local/include', '/sw/include', '/opt/homebrew/include']
 
     if conf.options.pybind11:
         includes_check = [conf.options.pybind11]
diff --git a/wscript b/wscript
index 42e6835d..30a7cb3c 100644
--- a/wscript
+++ b/wscript
@@ -43,6 +43,7 @@ def options(opt):
     opt.add_option('--tests', action='store_true', help='compile tests or not', dest='tests')
     opt.add_option('--python', action='store_true', help='compile python bindings', dest='pybind')
     opt.add_option('--no-robot_dart', action='store_true', help='only install the URDF library (utheque) / deactivate RobotDART', dest='utheque_only')
+    opt.add_option('--no-pic', action='store_true', help='do not compile with position independent code', dest='no_pic')
 
 
 def configure(conf):
@@ -113,7 +114,8 @@ def configure_robot_dart(conf):
         conf.check_python_module('dartpy')
         conf.check_pybind11(required=True)
         conf.env['BUILD_PYTHON'] = True
-        conf.env['py_flags'] = ' -fPIC' # we need -fPIC
+        if not conf.options.build_shared:
+            conf.env['py_flags'] = ' -fPIC' # we need -fPIC for python if building static
 
     # We require Magnum DartIntegration, EigenIntegration, AssimpImporter, and StbTrueTypeFont
     if len(conf.env.INCLUDES_MagnumIntegration_Dart) > 0 and len(conf.env.INCLUDES_MagnumIntegration_Eigen) > 0 and len(conf.env.INCLUDES_MagnumPlugins_AssimpImporter) > 0 and len(conf.env.INCLUDES_MagnumPlugins_StbTrueTypeFont) > 0:
@@ -152,6 +154,9 @@ def configure_robot_dart(conf):
         if gcc_version >= 71:
             opt_flags = opt_flags + " -faligned-new"
 
+    if (not conf.options.build_shared) and (not conf.options.no_pic):
+        common_flags += ' -fPIC'
+
     all_flags = common_flags + conf.env['py_flags'] + opt_flags
     conf.env['CXXFLAGS'] = conf.env['CXXFLAGS'] + all_flags.split(' ')
 
@@ -171,6 +176,9 @@ def configure_robot_dart(conf):
 
     # add strict flags for warnings
     corrade.corrade_enable_pedantic_flags(conf)
+
+    # keep only one time each flag
+    conf.env['CXXFLAGS'] = list(set(conf.env['CXXFLAGS']))
     print(conf.env['CXXFLAGS'])
 
 def summary(bld):