Spatial Contact Force is not sensing normal force, even two bodies are in contact?

Here, I have made contact between the end effector of the 2R robot manipulator and the object, where the ground is inclined. Here, the object is not movable. I have used the spatial contact force to sense the normal force exerted by the object. But it is showing zero normal force, Why?

[Alex]

Could you show the block diagramm of this model, which you have made, so i can get more information about it?

[Vishal Naik]

[Vishal Naik]

Thank you for looking at this. I found the mistake. The problem was in the model.

[Alex]

Could you post, what you did wrong as an answer and accept it, so others could learn of your mistakes?

[Vishal Naik]

I am working on hybrid motion/Force control system. Here, I made mistake in wrting code. The desired contact force comming from controller is zero, so 'Spatial Contact Force' block showing zero normal force.