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So the answer is: Making max_vel=0.0 and adding min_depth to a really small value like 0.01. For example:

<collision name="collision0">
<surface>
    <contact>
      <ode>
        <min_depth>0.01</min_depth>
        <max_vel>0.0</max_vel>
      </ode>
    </contact>
  </surface>
</collision>

Thank you to dkoung for the answer.

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