diff --git a/docs/reference/changelog-r2022.md b/docs/reference/changelog-r2022.md
index 6130e17f0e9..f327cac60cd 100644
--- a/docs/reference/changelog-r2022.md
+++ b/docs/reference/changelog-r2022.md
@@ -1,5 +1,12 @@
 # Webots R2022 Change Log
 
+
+## Webots R2022a Revision 1
+Released on XX XX, 2022.
+
+  - Bug fixes
+    - Fixed the URDF exportation of [SolidReference](solidreference.md) nodes ([#4102](https://github.com/cyberbotics/webots/pull/4102)).
+
 ## Webots R2022a
 Released on December 21th, 2022.
 
diff --git a/src/webots/nodes/WbBallJoint.cpp b/src/webots/nodes/WbBallJoint.cpp
index e23a8bd3ba7..0fb1fd14d64 100644
--- a/src/webots/nodes/WbBallJoint.cpp
+++ b/src/webots/nodes/WbBallJoint.cpp
@@ -811,7 +811,7 @@ void WbBallJoint::updateJointAxisRepresentation() {
 
 void WbBallJoint::writeExport(WbVrmlWriter &writer) const {
   if (writer.isUrdf() && solidEndPoint()) {
-    warn(tr("Exporting 'BallJoint' nodes to URDF is currently not supported"));
+    this->warn("Exporting 'BallJoint' nodes to URDF is currently not supported");
     return;
   }
   WbBasicJoint::writeExport(writer);
diff --git a/src/webots/nodes/WbJoint.cpp b/src/webots/nodes/WbJoint.cpp
index 8d0c6396275..7555b5c0d27 100644
--- a/src/webots/nodes/WbJoint.cpp
+++ b/src/webots/nodes/WbJoint.cpp
@@ -20,6 +20,7 @@
 #include "WbNodeUtilities.hpp"
 #include "WbPositionSensor.hpp"
 #include "WbRobot.hpp"
+#include "WbSolidReference.hpp"
 #include "WbWrenRenderingContext.hpp"
 
 #include <wren/config.h>
@@ -321,6 +322,11 @@ const QString WbJoint::urdfName() const {
 
 void WbJoint::writeExport(WbVrmlWriter &writer) const {
   if (writer.isUrdf() && solidEndPoint()) {
+    if (dynamic_cast<WbSolidReference *>(mEndPoint->value())) {
+      this->warn("Exporting a Joint node with a SolidRefernce endpoint to URDF is not supported.");
+      return;
+    }
+
     const WbNode *const parentRoot = findUrdfLinkRoot();
     const WbVector3 currentOffset = solidEndPoint()->translation() - anchor();
     const WbVector3 translation = solidEndPoint()->translationFrom(parentRoot) - currentOffset + writer.jointOffset();