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It's a lot less spooky when you consider that your desk can hold your coffee mug forever. It's exerting force on the mug, but not doing any work.

even more so as the mug literally levitates above the desk, the atoms of the mug are not really touching the atoms of the desk.

The atoms do touch, by interacting electrically--which is the physical definition of how anything touches anything.

(for fermions)