Reset rigidbody and clear impulses

what is the best way to reset a rigidBody completely? Let’s say I apply an impulse (0,1000,0) so that it flies upwards, but when I press ‘K’, I want it to be at position (0,0,0) again (and not move). If I set the PhysicsLocation, it will be at the right position, but the impulse will still be applied. So is there any way to clear all the impulses etc. (clearForces did not work as an impulse applies a force every frame as far as I understood it)?

Currently, I simply recreate the rigidBody to reset it and remove the old one from the physicsSpace. Will this have any performance impact in the long run (if there is no better way)?