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set model collision free but there is force between the collided objects

I am using ros indigo and gazebo 2 on ubuntu 14.04.

I used <collide_without_contact> tag to set my model table collision free. During the process of controlling my robot arm, sometimes arm would collide with table. There was no collision but when arm collided with table, there was an obvious force between table and arm, which caused arm move very slowly. I wonder whether it is able to disable this force and table is just visually functional and has no any physical function in the world.

Thanks in advance for any help.