diff --git a/docs/guide/configuration.rst b/docs/guide/configuration.rst
index 4061b30ff..8a9bdb723 100644
--- a/docs/guide/configuration.rst
+++ b/docs/guide/configuration.rst
@@ -47,10 +47,21 @@ Joint Dynamics
 ~~~~~~~~~~~~~~
 Joint dynamics are configured using environment variables starting with ``JAXSIM_JOINT_``. Available variables include:
 
+- ``JAXSIM_JOINT_FRICTION_STATIC``: Overrides the static friction coefficient for all joints.
+
+  *Default:* ``0.0``.
+
+- ``JAXSIM_JOINT_FRICTION_VISCOUS``: Overrides the viscous friction coefficient for all joints.
+
+  *Default:* ``0.0``.
+
 - ``JAXSIM_JOINT_POSITION_LIMIT_DAMPER``: Overrides the damper value for joint position limits of the SDF model.
 
+  *Default:* ``0.0``.
+
 - ``JAXSIM_JOINT_POSITION_LIMIT_SPRING``: Overrides the spring value for joint position limits of the SDF model.
 
+  *Default:* ``0.0``.
 
 Logging and Exceptions
 ~~~~~~~~~~~~~~~~~~~~~~
diff --git a/src/jaxsim/parsers/rod/parser.py b/src/jaxsim/parsers/rod/parser.py
index 99d779d3e..86f98fe72 100644
--- a/src/jaxsim/parsers/rod/parser.py
+++ b/src/jaxsim/parsers/rod/parser.py
@@ -252,14 +252,14 @@ def extract_model_data(
                 if j.axis is not None
                 and j.axis.dynamics is not None
                 and j.axis.dynamics.friction is not None
-                else 0.0
+                else os.environ.get("JAXSIM_JOINT_FRICTION_STATIC", 0.0)
             ),
             friction_viscous=float(
                 j.axis.dynamics.damping
                 if j.axis is not None
                 and j.axis.dynamics is not None
                 and j.axis.dynamics.damping is not None
-                else 0.0
+                else os.environ.get("JAXSIM_JOINT_FRICTION_VISCOUS", 0.0)
             ),
             position_limit_damper=float(
                 j.axis.limit.dissipation