Simulate drive velocity"Sudden STOP"

Omniverse Isaac Sim
1

Hi,

Is this the best way to simulate a sudden stop to see the momentum effect of 2 flywheels?

from pxr import Sdf, Gf, UsdPhysics, UsdLux, PhysxSchema
from omni.isaac.dynamic_control import _dynamic_control


stage = omni.usd.get_context().get_stage()

 # get handle to the Drive API for both wheels
flywheel_left_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/omni_redo/arm_1/Revolute_21"), "angular")
flywheel_right_joint= UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/omni_redo/arm_1/Revolute_22"), "angular")

# Set the velocity drive target in degrees/second
flywheel_left_joint.GetTargetVelocityAttr().Set(0)
flywheel_right_joint.GetTargetVelocityAttr().Set(0)

#flywheel_left_joint_path = "/World/omni_redo/arm_1/Revolute_21"
#flywheel_right_joint_path = "/World/omni_redo/arm_1/Revolute_22"
#/World/omni_redo/arm_1/Revolute_21.drive:angular:physics:targetVelocity

import time
time.sleep(5)

# Set the velocity drive target in degrees/second
flywheel_left_joint.GetTargetVelocityAttr().Set(5000)
flywheel_right_joint.GetTargetVelocityAttr().Set(-5000)

time.sleep(5)

flywheel_left_joint.GetTargetVelocityAttr().Set(0)
flywheel_right_joint.GetTargetVelocityAttr().Set(0)

time.sleep(5)

flywheel_left_joint.GetTargetVelocityAttr().Set(-6000)
flywheel_right_joint.GetTargetVelocityAttr().Set(6000)

Appreciate any help or guidance.
Thanks