text: import os
  import numpy as np
  import raisimpy as raisim
  import time
  
  raisim.World.set_license_file(os.path.dirname(os.path.abspath(__file__)) + "/../../rsc/activation.raisim")
  quadcopter_urdf_file = os.path.dirname(os.path.abspath(__file__)) + "/../../rsc/ITM-quadcopter/urdf/ITM-quadcopter.urdf"
  
  world = raisim.World()
  world.set_time_step(0.001)
  server = raisim.RaisimServer(world)
  ground = world.add_ground()
  
  quadcopter = world.add_articulated_system(quadcopter_urdf_file)
  quadcopter.set_name("ITM-quadcopter")
  quadcopter_nominal_joint_config = np.array([0, 0, 0.1433, 1.0, 0.0, 0.0, 0.0, 0, 0, 0, 0])
  quadcopter.set_generalized_coordinates(quadcopter_nominal_joint_config)
  
  
  server.launch_server(8080)
  
  
  time.sleep(2)
  world.integrate1()
  
  print(quadcopter.get_mass_matrix())
  
  for i in range(5000000):
      world.integrate()
  
  server.kill_server()
  