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I have found a solution of sorts, instead of disabling physics directly I just set the solver iterations to 0 which has the same effect and can be done through messages. Of course this is the nuclear option, since this turns off all physics, not just for the link you want.

Here's a rosservice call to do it:

rosservice call /gazebo/set_physics_properties "
time_step: 0.001
max_update_rate: 1000.0
gravity:
  x: 0.0
  y: 0.0
  z: 0.0
ode_config:
  auto_disable_bodies: False
  sor_pgs_precon_iters: 0
  <!--SET THIS TO ZERO TO DISABLE PHYSICS-->
  sor_pgs_iters: 0
  sor_pgs_w: 1.3
  sor_pgs_rms_error_tol: 0.0
  contact_surface_layer: 0.001
  contact_max_correcting_vel: 100.0
  cfm: 0.0
  erp: 0.2
  max_contacts: 20"