[INFO] Welcome to Stonefish 1.5.
[INFO] Window created. OpenGL 4.3 contexts created.
[INFO] Checking GPU capabilities...
[INFO] Number of texture units available: 192
[INFO] Maximum texture size: 32768
[INFO] Maximum number of texture layers: 2048
[INFO] Maximum number of fragment shader uniforms: 4096
[INFO] Setting up OpenGL...
[INFO] Loaded texture from: /home/ubuntu/botlandscape/marine-build/verified-source/Library/shaders/logo_64.png
[INFO] Initializing rendering pipeline:
[INFO] Loading GUI...
[INFO] Loaded texture from: /home/ubuntu/botlandscape/marine-build/verified-source/Library/shaders/logo_gray_64.png
[INFO] Loaded texture from: /home/ubuntu/botlandscape/marine-build/verified-source/Library/shaders/gui.png
[INFO] Initialising OpenGL rendering pipeline...
[INFO] Loading shaders...
[INFO] Loaded texture from: /home/ubuntu/botlandscape/marine-build/verified-source/Library/shaders/flake.png
[INFO] Initializing simulation:
[INFO] Building scenario...
[INFO] Loaded precomputed atmosphere model (20 wavelengths, 5 scattering orders)
[INFO] Material Dummy (0) created.
[INFO] Material Fiberglass (1) created.
[INFO] Material Rock (2) created.
[INFO] Loaded texture from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/sand_normal.png
[WARN] Texture has 4 channels while expected 3 channels!
[INFO] Loaded texture from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/propeller_tex.png
[WARN] Texture has 4 channels while expected 3 channels!
[INFO] Loaded texture from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/link4_tex.png
[INFO] Generating ocean waves...
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/hull_hydro.obj
[INFO] Loaded mesh with 2880 faces in 1 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/hull_hydro.obj
[INFO] Loaded mesh with 2880 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/hull_hydro.obj
[INFO] Loaded mesh with 2880 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/vbar_hydro.obj
[INFO] Loaded mesh with 126 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/vbar_hydro.obj
[INFO] Loaded mesh with 126 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/duct_hydro.obj
[INFO] Loaded mesh with 372 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/duct_hydro.obj
[INFO] Loaded mesh with 372 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/duct_hydro.obj
[INFO] Loaded mesh with 372 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/duct_hydro.obj
[INFO] Loaded mesh with 372 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/duct_hydro.obj
[INFO] Loaded mesh with 372 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/base_link_uji_hydro.obj
[INFO] Loaded mesh with 124 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/link1_hydro.obj
[INFO] Loaded mesh with 254 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/link2_hydro.obj
[INFO] Loaded mesh with 358 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/link3_hydro.obj
[INFO] Loaded mesh with 566 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/link4ft_hydro.obj
[INFO] Loaded mesh with 282 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/eeprobe_hydro.obj
[INFO] Loaded mesh with 248 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/fingerA_hydro.obj
[INFO] Loaded mesh with 76 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/fingerA_hydro.obj
[INFO] Loaded mesh with 76 faces in 0 ms.
[INFO] Loading geometry from: /home/ubuntu/botlandscape/marine-build/verified-source/Tests/Data/propeller.obj
[INFO] Loaded mesh with 900 faces in 0 ms.
[INFO] Built multibody link Vehicle (mass[kg]: 138.507; inertia[kgm2]: 94.111, 131.752, 139.138; volume[cm3]: 147060.8)
[INFO] Building kinematic tree of robot 'GIRONA500', consisting of 9 links and 8 joints.
[INFO] Joint 1: Vehicle<-->ArmBaseLink
[INFO] Joint 2: ArmBaseLink<-->ArmLink1
[INFO] Joint 3: ArmLink1<-->ArmLink2
[INFO] Joint 4: ArmLink2<-->ArmLink3
[INFO] Joint 5: ArmLink3<-->ArmLink4
[INFO] Joint 6: ArmLink4<-->EE
[INFO] Joint 7: EE<-->Finger2
[INFO] Joint 8: EE<-->Finger1
[INFO] Built multibody link ArmBaseLink (mass[kg]: 3.554; inertia[kgm2]: 0.007, 0.038, 0.038; volume[cm3]: 3948.7)
[INFO] Built multibody link ArmLink1 (mass[kg]: 0.760; inertia[kgm2]: 0.001, 0.002, 0.002; volume[cm3]: 844.7)
[INFO] Built multibody link ArmLink2 (mass[kg]: 5.160; inertia[kgm2]: 0.021, 0.035, 0.043; volume[cm3]: 5733.7)
[INFO] Built multibody link ArmLink3 (mass[kg]: 1.364; inertia[kgm2]: 0.002, 0.005, 0.006; volume[cm3]: 1515.9)
[INFO] Built multibody link ArmLink4 (mass[kg]: 0.277; inertia[kgm2]: 0.000, 0.000, 0.000; volume[cm3]: 307.5)
[INFO] Built multibody link EE (mass[kg]: 0.419; inertia[kgm2]: 0.000, 0.000, 0.000; volume[cm3]: 465.9)
[INFO] Built multibody link Finger2 (mass[kg]: 0.100; inertia[kgm2]: 0.000, 0.000, 0.000; volume[cm3]: 111.0)
[INFO] Built multibody link Finger1 (mass[kg]: 0.100; inertia[kgm2]: 0.000, 0.000, 0.000; volume[cm3]: 111.0)
[INFO] Finalizing OpenGL rendering pipeline...
[INFO] Synchronizing motion states...
[INFO] Simulation initialized -> using Bullet Physics 3.17.
[INFO] Ready for running...
[INFO] IC problem solved with 1 iterations in 0.000102 s.