Please add '-d3' to command line and post the relevant part of the log (the last 10 lines before the first error including the error message should be sufficient).
And this line indicates some error with the stlink:
Error: 272 6 stlink_usb.c:1672 stlink_usb_open(): open failed
The precise cause isn't clear, some possibilities that came to my mind:
most likely: insufficient access rights, for linux: on my system 'lsusb' shows 'Bus 001 Device 013: ID 0483:3748 STMicroelectronics ST-LINK/V2', hence a check with 'ls -l /dev/bus/usb/001/013' shows something like 'crw-rw-r--+ 1 root trusted 189, 12 2020-02-26 17:10 /dev/bus/usb/001/013'. This means that all members of group 'trusted' have full access to the stlink. The user you're working as needs r/w-access. Do you have an '/etc/udev/rules.d/49-stlink.rules' file? Comes with stsw-link007 or STM32CubeProgrammer.
another instance of openOCD (or something else) already got access to the stlink and blocks further attempts, in this case disconnecting and reconnecting the USB cable should be sufficient
you stlink is messed up in some way, rather unlikely, but you could verify with the update program (available from st webside: stsw-link007) that it can connect to the stlink