I have a URDF model that uses prismatic joints with very high friction and damping. As I understood it, friction corresponds to the static friction, and this works in when loaded into gazebo.

The simulation requires quite high iterations on the solver and a small time step to be stable. Therefore I set the 'implicitSpringDamper' tag to true. This worked very well, but unfortunately the static friction seems to be ignored now.

Is there a way to use static friction with the implicitSpringDamper set to true?