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cannot find start of piano pedal: `Sustain'

From: Jim Cline
Subject: cannot find start of piano pedal: `Sustain'
Date: Thu, 4 Aug 2022 14:07:20 -0400 (EDT)
User-agent: Alpine 2.20 (DEB 67 2015-01-07)

I have a score where the sustain starts in the voice in the bass clef, and ends after the voice crosses into the treble clef. It compiles but with a warning: cannot find start of piano pedal: `Sustain', with respect to the sustainOff. The warning goes away if I comment out midi{}. However it would be nice to understand what is giving rise to the problem. I tried keeping the sustainOff in the bass clef, despite the voice crossing, but this did not help.

Here is the measure in question:

\version "2.20.0"

upper = \relative c'' {
  \clef treble
  r2. \hideStaffSwitch\change Staff = "lower" r4*1/2 s8 \sustainOff |

lower = \relative c {
  \clef bass
b8 ees, aes c, b \sustainOn ees' \showStaffSwitch\change Staff = "upper" aes ees' |

\score {
  \new PianoStaff <<
    \new Staff = "upper" \upper
    \new Staff = "lower" \lower
   \midi { }

regards, Jim

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