You can either define them as "meshed rigid" contact bodies -There will be no deformations (Infinite Stiffness) & no structural properties required in structural analysis.
Or you can use the geometries for these bodies and define them as "rigid" contact bodies.
As I mentioned earlier, Meshed rigid bodies will have infinite stiffness. Hence you cannot expect to see any deformation / displacement in this body under loading.
The nodes defined for control node should not be part of any other mesh / contact body.
Meshed rigid or geometric bodies will always be master in node to segment contact.
Hence I removed the intermediate meshed rigid body. Now you can see the meshed rigid body "lower" moves due to the free control node as explained in the article.
Just one more question in case of loaded meshed rigid body contacting to loaded meshed rigid body, is this posible and how to describe in contact table (is this segment to segment or must be node to segment? )