''mass matrix is singular'' when running RRA

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Sylvia Wan
Posts: 18
Joined: Thu Oct 07, 2010 6:43 am

''mass matrix is singular'' when running RRA

Post by Sylvia Wan » Sun Apr 03, 2011 2:45 am

I got this from the message window after RRA failure.

Exception:
InverseDynamics: ERROR- mass matrix is singular

Has anyone experienced this before?
I thought RRA does not involve ID.

Thank you.
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Ayman Habib
Posts: 2248
Joined: Fri Apr 01, 2005 12:24 pm

RE: ''mass matrix is singular'' when running RRA

Post by Ayman Habib » Wed Apr 06, 2011 10:58 am

Sylvia,

RRA performs ID under the covers for each time frame, the main difference is that it's invoked during an integration to report residuals.

Hope this explains,
-Ayman
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