Remove dynamics from simulation

[aleada23]

Good morning. I'm a student and I'm using MuJoCo for a project. I know that dynamic is an important feature for this engine, but I need to remove it from my environment.
I need to do this since I want to implement a reinforcement learning algorithm in my project and I need to speed up simulations. I defined a robot in simulation and I'm performing tasks like "collision avoidance" and "inverse kinematics". So I can read of dynamics from my simulations keeping only kinematics, supposing that the robot is an ideal one without compromising the learning part of the project. I looked for a solution and the simplest way seems to be to set the parameters to zero. However I don't think that this way will really help me in making the computation lighter.
Any suggestion about this?
Thank you for your time

[yuvaltassa]

Your question is very difficult to parse. I think that you want to just not call mj_step but only mj_kinematics or mj_fwdPosition? Or set all velocities to zero? Not entirely sure what you're asking.

[aleada23]

Sorry, let me try to be clearer.
I've created an environment, also using Robosuite, where a robot has to perform some tasks. Now, I need to remove the dynamics from the environment to make computation lighter for implementing a new learning component in my project. The dynamics currently does not constitute a fundamental part of my simulation during the learning phase, so I can do without it. I am only interested in keeping some Mujoco functionalities active, such as the rangefinder sensors, or obtain Jacobian for inverse kinematics for robot control. Therefore, I would like to remove its effect. For instance, if I were to zero out masses and frictions, I would remove a significant portion of the dynamics from the simulation, but I believe the calculations would still be performed, keeping the simulation slow as it is now. So, is it possible to remove the dynamics? I would like to avoid any calculations related to it during a simulation, as it isn't necessary in this new phase.
Thank you