Friction setting not working (iMSTK-Unity)

I’m trying to adjust the friction parameter on a static cube but am having difficulties.
I’ve checked if the friction value in CollisionInteraction.cs wasn’t being set, but that doesn’t seem to be the issue. I thought maybe I have to enable friction somewhere else, but can’t find anything like this. What am I missing something? Is friction not supported on static models?

Here is an image of the collision interaction component.

The high friction (red) cube is a simple cube, with StaticModel and GeometryFilter (set as oriented box).

If anyone knows what I’m doing wrong, any help is greatly appreciated! Thank you!