id	summary	reporter	owner	description	type	status	priority	milestone	component	version	resolution	keywords	cc
1281	"Function Inlining: ""MultiBody: SlidingJointTest.frame_b.r unbound?"""	asodja	asodja	"The field {{r_0}} of connector {{Modelica.Mechanics.MultiBody.Interfaces.Frame_b}} seems to remain unbound (always 0), although the force (field {{f}} in connector) is not and also the states' values (SlidingJoint.s and SlidingJoint.v) are OK (as expected).
Consequently, blocks like Sensors.AbsolutePosition or Sensors.AbsoluteVelocity do not work.

At the instantiation of the model (in the attachment), the following warrning are diplayed (although they are probably uncorrelated with the problem):
{{{
[SlidingJointTest.mo:23188:5-23191:76:readonly] Warning: Variable Cart.r_0: Non-array modification 'if Cart.enforceStates then StateSelect.always else StateSelect.avoid' for array component, possibly due to missing 'each'.

[SlidingJointTest.mo:23192:5-23195:76:readonly] Warning: Variable Cart.v_0: Non-array modification 'if Cart.enforceStates then StateSelect.always else StateSelect.avoid' for array component, possibly due to missing 'each'.

[SlidingJointTest.mo:22519:5-22522:76:readonly] Warning: Variable Cart.body.r_0: Non-array modification 'if Cart.body.enforceStates then StateSelect.always else StateSelect.avoid' for array component, possibly due to missing 'each'.

[SlidingJointTest.mo:22523:5-22526:76:readonly] Warning: Variable Cart.body.v_0: Non-array modification 'if Cart.body.enforceStates then StateSelect.always else StateSelect.avoid' for array component, possibly due to missing 'each'.

[SlidingJointTest.mo:22601:5-22605:65:readonly] Warning: Variable Cart.body.w_a: Non-array modification 'if Cart.body.enforceStates then if Cart.body.useQuaternions then StateSelect.always else StateSelect.never else StateSelect.avoid' for array component, possibly due to missing 'each'.

[SlidingJointTest.mo:22616:5-22619:119:readonly] Warning: Variable Cart.body.Q: Non-array modification 'if Cart.body.enforceStates then if Cart.body.useQuaternions then StateSelect.prefer else StateSelect.never else StateSelect.avoid' for array component, possibly due to missing 'each'.

[SlidingJointTest.mo:22627:5-22630:69:readonly] Warning: Variable Cart.body.phi: Non-array modification 'if Cart.body.enforceStates then if Cart.body.useQuaternions then StateSelect.never else StateSelect.always else StateSelect.avoid' for array component, possibly due to missing 'each'.

[SlidingJointTest.mo:22631:5-22633:42:readonly] Warning: Variable Cart.body.phi_d: Non-array modification 'if Cart.body.enforceStates then if Cart.body.useQuaternions then StateSelect.never else StateSelect.always else StateSelect.avoid' for array component, possibly due to missing 'each'.
}}}

In the attachment, there is a test model with all the necessary Modelica Standard Library components included.
It was translated with {{omc +s SlidingJointTest.mo}} and simulated for 10 s."	defect	closed	high		Instantiation	1.6.0	fixed		asodja