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