How to add friction to Unity HingeJoint?

I attach a rigidbody to a HingeJoint in Unity.

It’s attached no at the the center of an anchor of a joint.

To stop it from falling I set Use Motor = true, Target Velocity = 0 and apply some force to the motor.

However, this does not help, see video:

Here is the sample project:

Screen from sample project to reproduce the issue (there is no code):
alt text

How can I apply a friction to a joint to stop rigidbody from moving?

Note: setting spring with damper or applying a limit is not an option for me, because I need to rotate the rigidbody correctly when I apply enough torque (force) to a motor.
If I switch damper/limit on and off, the rigidbody will move faster when it is rotated in a direction of falling and slower when it is rotated in opposite direction.

I found a similar question here and a seemingly correct way to achieve it:

using UnityEngine;

public class JointFriction : MonoBehaviour
    [Tooltip("mulitiplier for the angular velocity for the torque to apply.")]
    public float Friction = 0.4f;

    private HingeJoint _hinge;
    private Rigidbody _thisBody;
    private Rigidbody _connectedBody;
    private Vector3 _axis;  //local space

    // Use this for initialization
    void Start()
        _hinge = GetComponent<HingeJoint>();
        _connectedBody = _hinge.connectedBody;
        _axis = _hinge.axis;

        _thisBody = GetComponent<Rigidbody>();

    // Update is called once per frame
    void FixedUpdate()
        var angularV = _hinge.velocity;
        //Debug.Log("angularV " + angularV);
        var worldAxis = transform.TransformVector(_axis);
        var worldTorque = Friction * angularV * worldAxis;