Prior to performing the simulation, the CAD models must be appropriately prepared. The left image below presents the dimensional specifications of the pin and pendulum. The right image illustrates the corresponding CAD geometries. The CAD geometry in .step format is available here. This non-parametric geometry was exported after assembly solving, so the initial position and orientation of both parts is preserved. The parametric FreeCAD geometry, in .FCStd format, is available here.