Rigid body motion is something that preCICE itself does support, and people have in the past used MBDyn or even written in-house examples, as, e.g., this (ancient) one:
Our Quickstart tutorial is essentially interaction between a fluid and a solid body:
There is also a community project coupling OpenFOAM and MBDyn:
Which theses do you mean? Could you please link them here? What else do you need?