def METHOD_NAME(self):
    import pydrake.all
    builder = pydrake.systems.framework.DiagramBuilder()
    plant, _ = pydrake.multibody.plant.AddMultibodyPlantSceneGraph(
        builder, 0.0)
    pydrake.multibody.parsing.Parser(plant).AddModels(
        pydrake.common.FindResourceOrThrow(
            "drake/examples/pendulum/Pendulum.urdf"))
    plant.Finalize()
    diagram = builder.Build()
    simulator = pydrake.systems.analysis.Simulator(diagram)