I found that when setting the mass scale, I cannot change it to zero. When I change it from 1 to 0 in the Details pane, it changes the value to 0.001. This makes things better, but still is clearly non-zero and causes a drift over time that messes me up. I need it to be actually zero, which I was able to achieve by creating my own physics material and setting the density to zero as suggested by Razvan above.
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