After some more testing I found out that if I set the

<option name="bo_reuse" value="0" />

in my .drirc (setted by driconf) Webots does not freeze my system. I
can't see the objects (except for some rendered text) which makes webots
still unusable. Has anyone a idea why

"Disable buffer object reuse"

"help" with the freeze?

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[i965] 64 bit Webots simulator freezes system with Intel GM965
https://bugs.launchpad.net/bugs/513523
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