Hello,
To simulate the ball resting on the lever, the Spatial Contact Force block is required, which allows the geometries of both the beam and the ball to interact. Otherwise, the ball will fall through due to the set gravity. To get the geometries of both the solids, it is required to export the entire geometry in the block properties, that gives the port G. Also, the ball is configured with 6-DOF Joint so that it can move in any direction. With just the R1 transformation, the ball rests exactly in the middle of the beam and does not fall off. Uncommenting the R2 transformation, displaces the ball to the right slightly such that it falls off the beam.
The documentation on modelling contact forces (https://www.mathworks.com/help/sm/ug/modeling-contact-force-between-two-solids.html) and on the Spatial Contact Force block (https://www.mathworks.com/help/sm/ref/spatialcontactforce.html) can help in understanding the above model.
