Your collision stiffness is simply way too low (and combined with a high
damping).  Increasing it to something like 1e6 (or alternatively strongly
decreasing the masses) will help (but you will have to be careful with the
simulation stepping to avoid instability).  None the less you will
probably have problems getting the results you intend - this kind of
pendulum is very bad to simulate since in the real world the masses
experience very high accelerations.

Christoph

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