Disable Collisions on Articulation body

[marc1198]

Hello,

as a first trial, I would like to use Unity only for visualizations of trajectories given by ROS.
I want no physics (gravity, friction, damping) and no collisions with external objects to be calculated by Unity as this is all done in ROS already.

Is there a way to achieve this by using the articulation body which is created automatically when importing the URDF of UR10?

As every joint of the articulation body has its own parameters I hope I will not need to set the parameters of every joint to zero. Would it e.g. be enough to turn off gravity and set mass to zero in the root body or does this option need to be disabled for every single joint if I want no physic effects on the whole robot?
Also I couldn't find any option to disable collisions on the articulation body.