I am trying to model a contact force betweeen a cylinder and a plane. Previously I have used the "Sphere to Plane Force" in https://se.mathworks.com/matlabcentral/fileexchange/47417-simscape-multibody-contact-forces-library. However I wanted to try the new "Spatial Contact Force" in the Simscape Multibody library but I can't get it to work. I tried to connect the block directly to my cylinder and plane but it does not match, which I suspect is because the "Spatial Contact Force" does not use "Physical System" connections, se figure below.
If someone could please show an example of how to use the "Spatial Contact Force" block as well to enlighten me on which best to use between "Spatial Contact Force" and the "Sphere to Plane Force" I would be most thankful.