I want to remove the IDM login and authorization. How can I do the same ?
I have tried modifying the security configuration class but getting no luck ?
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What are you attempting to remove authentication from? If you want the REST endpoints without authentication can build your own spring boot apps with just a couple of starters and no security configuration.
That would make a good Flowable blog post 
A Spring Boot App + Flowable (Tasks) REST API + No Security (e.g., no Basic Auth).
Then add support for OAuth scopes using Spring Security OAuth Resource Server.
Also, see: Add support for OAuth 2.0 to Flowable's REST APIs