The following is a list of issues with MTK that in some form or another leads to missing features or workarounds in Multibody.jl

• Array variables being almost totally broken (collect required everywhere)
• Parameters that appears only as defaults are ignored SciML/ModelingToolkit.jl#2322
  • handle parameters that only appear as defaults SciML/ModelingToolkit.jl#2336
• vector equations in @mtkmodel SciML/ModelingToolkit.jl#2318
• @mtkmodel errors when module qualifier is used to create component SciML/ModelingToolkit.jl#2289
• conditionally chosen array variable SciML/ModelingToolkit.jl#2812
• Cannot provide default value for array parameter SciML/ModelingToolkit.jl#2810
• parameter default given by other parameter leads to incorrect codegen SciML/ModelingToolkit.jl#2813
• Array variable not recognized in registered function call SciML/ModelingToolkit.jl#2808
• Cannot use structural parameter as array size SciML/ModelingToolkit.jl#2704