[92107.768149] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.769151] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.770146] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.771141] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.772133] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.773132] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.774130] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.775129] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.776125] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.777122] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.778120] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.779116] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.780109] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.781110] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.782108] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.783106] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.784116] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.785116] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.786106] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.787112] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.788094] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.789096] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.790091] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.791089] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.792083] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.793084] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.794078] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.795077] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.796068] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.797075] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.798073] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.799069] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.800060] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.801061] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.802059] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.803060] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.804047] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.805048] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.806046] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.807049] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.808040] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.809047] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.810039] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)
[92107.811040] ERR kI - compute_jinv (joints: 0x0P+0 0x0P+0 0x0P+0 0x0P+0 0x1.059CF4D8377FAP+4 0x0P+0), (iterations=0)