id	summary	reporter	owner	description	type	status	priority	milestone	component	version	resolution	keywords	cc
1929	Multibody USR and SSR joints have wrong initialization values	Bruno Scaglioni	Willi Braun	"ModelicaTest.MultiBody.FourbarVariants.JointUSR and 
ModelicaTest.MultiBody.FourbarVariants.JointSSR models simulate with wrong results, this is due to wrong initialization of some variables including derivatives of state variables, see for example j2.a in JointUSR or 

Body1.w_a[1]
Body1.z_a[1]
Body2.v_0[2]
Body2.a_0[2] 

in joints.SSR 

The initial conditions and values for the states are completely specified in the models but OMC wrongly computes the initial value of some variables in the USR and SSR joints. 

"	defect	assigned	high	2.0.0	Backend	trunk