Question Locking ArticulationBody joint in position

Hello!

Im hoping to implement a locking mechanism on joints that are not being driven by the controller. The idea is to lock the arm in its idle position, and unlock joints when a drive command is triggered.

I tried using AtriculationDofLock (shown below) but this doesn't seem to have any effect. Increasing the .jointFriction property to very high value does not reach a full lock. Is there a way to lock an ArticulationBody joint in position? Thanks!

Code (CSharp):

1.        
2. public ArmArticulationChain aac;
3. public ArticulationBody[] joints;
4.  
5. private void lockAllJoints(RroboEnums.DigitalTwinState state)
6.         {
7.             if (state == RroboEnums.DigitalTwinState.Idle)
8.             {
9.                 for (int i = 0; i < dof; i++)
10.                 {
11.                     aac.joints[i].swingYLock = ArticulationDofLock.LockedMotion;
12.                     aac.joints[i].swingZLock = ArticulationDofLock.LockedMotion;
13.                     aac.joints[i].twistLock = ArticulationDofLock.LockedMotion;
14.                 }
15.             }
16.         }