Boxes on a plane are supposed to move with the plane, which has a sinusoidal movement. The problematic situations are as follows.

1. sliding
   The boxes, however, slide when the plane starts to move from a static pose.

2. moving
   1) When the plane is moving, the boxes can move with the plane if I manually change the boxes pose.
   2) When the plane is moving, the boxes can move with the plane if I manually change the solver iteration number.

video: https://streamable.com/qj7uh5
The far box has a small mass, 40kg; the close box has a large mass, 500kg.

Thanks for helping!

---

prismastic_box.launch

<launch>
<include file="$(find gazebo_ros)/launch/empty_world.launch"/>
<param name = "robot_description" command="cat $(find pbr_gazebo)/models/prismatic_box/model.urdf"/>
<node name = "spawn_robot" pkg = "gazebo_ros" type = "spawn_model" args="-file $(find pbr_gazebo)/models/prismatic_box/model.urdf -urdf -model prismatic_box"/>

<rosparam file="$(find pbr_gazebo)/config/prismatic_box_controller.yaml" command="load"/>

<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/prismatic_box_controller" args="prismatic_joint_controller joint_state_controller"/>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen">
    <remap from="/joint_states" to="/prismatic_box_controller/joint_states" />
</node>
</launch>

model.urdf

<robot name="prismatic_box">
<gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
        <robotNamespace>/prismatic_box_controller</robotNamespace>
        <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>
</gazebo>

<link name="world"/>

<link name="world_box">
    <inertial>
        <mass value="50000" />
        <origin xyz="0 0 0" />
        <inertia ixx="833333" ixy="0.0" ixz="0.0" iyy="1366666" iyz="0.0" izz="2166666" /> 
        <!--Ixx = 1/12/m*(y^2+z^2)-->
    </inertial>

    <visual>
        <origin xyz="0 0 0" />
        <geometry>
            <box size="18 14 2" />
        </geometry>
    </visual>

    <collision>
        <origin xyz="0 0 0" />
        <geometry>
            <box size="18 14 2" />
        </geometry>
    </collision>
</link> 
<gazebo reference="world_box">
    <material>Gazebo/Gray</material>
</gazebo>

<joint name="world_box_joint" type="fixed">
    <origin xyz="0 0 1.0" rpy="0 0 0" />
    <parent link="world"/>
    <child link="world_box" />
</joint>

<link name="prismatic_box">
    <inertial>
        <mass value="10000" />
        <origin xyz="0 0 0" />
        <inertia ixx="120208" ixy="0.0" ixz="0.0" iyy="270208" iyz="0.0" izz="390000" /> 
        <!--Ixx = 1/12/m*(y^2+z^2)-->
    </inertial>

    <visual>
        <origin xyz="0 0 0" />
        <geometry>
            <box size="18 12 0.5" />
        </geometry>
    </visual>

    <collision>
        <origin xyz="0 0 0" />
        <geometry>
            <box size="18 12 0.5" />
        </geometry>
    </collision>
</link> 
<gazebo reference="prismatic_box">
    <material>Gazebo/Blue</material>
</gazebo>

<joint name="prismatic_box_joint" type="fixed">
    <origin xyz="0 0 1.25" rpy="0 0 0" />
    <parent link="world_box"/>
    <child link="prismatic_box" />
</joint>

<link name="box">
    <inertial>
        <mass value="10000" />
        <origin xyz="0 0 0" />
        <inertia ixx="83541" ixy="0.0" ixz="0.0" iyy="83541" iyz="0.0" izz="166666" /> 
        <!--Ixx = 1/12/m*(y^2+z^2)-->
    </inertial>

    <visual>
        <origin xyz="0 0 0" />
        <geometry>
            <box size="10 10 0.1" />
        </geometry>
    </visual>

    <collision>
        <origin xyz="0 0 0" />
        <geometry>
            <box size="10 10 0.1" />
        </geometry>
        <surface>
            <friction>
              <ode>
                <mu>0.6</mu>
                <mu2>0.6</mu2>
              </ode>
            </friction>
            <contact>
                <ode>
                    <min_depth>0.003</min_depth>
                </ode>
            </contact>
        </surface>
    </collision>
</link>
<gazebo reference="box">
    <material>simple_terrain</material>
    <mu1>0.6</mu1>
    <mu2>0.6</mu2>
</gazebo>

<joint name="box_joint" type="prismatic">
    <origin xyz="0 0 0.3" rpy="0 0 0" />
    <parent link="prismatic_box"/>
    <child link="box" />
    <xis xyz = "1 0 0"/>
    <limit effort="1000000" lower="-4" upper="4" velocity="20" />
</joint>
<transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="box_joint">
        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        <mechanicalReduction>1</mechanicalReduction>
    </actuator>
</transmission>
</robot>

prismaticboxcontroller.yaml

prismatic_box_controller:
# Publish all joint states -----------------------------------
joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50

# Position Controllers ---------------------------------------
prismatic_joint_controller:
  type: effort_controllers/JointVelocityController
  joint: box_joint
  pid: {p: 1000000.0, i: 1000.0, d: 1000.0}

---

edit 1:
Friction and contact params are able to be specified in urdf. Here is the results of gz sdf -p model.urdf: C:\fakepath\model.sdf