Resolved Dynamic Rigidbodies cannot sit stationary on top of each other (ECS)

I am seeing an issue where dynamic rigidbodies in an ECS subscene cannot sit stationary on top of each other, but rather the top body would slide off everytime.

Here are some screenshots, each pair of colored cubes is directly above the other.
Blue: Cubes are not in an ECS subscene, standard Unity Physics
Red: Cubes are in an ECS subscene
Green: Cubes are in an ECS subscene, but the bottom green cube is kinematic

Initial:


After a few seconds:


The top red cube eventually just falls off:


Any ideas why this might be happening or is there a fix for this?

 

If you need stability, try add a PhysicsStep component to a gameobject in a subscene and tick the Enable Contact Solver Stabilization



(Or give havok a shot if you have pro)

 

Thank you so much. I don't have pro atm so I can't try Havok but this solution works.

In case anybody wants to know, there is a tiny offset not seen with the other cubes, but this is no problem for me. Edit: If I increase the solver iteration count to around 24, the offset goes away and the red cubes sit perfectly on top of each other like the other ones.