2007 Mercedes ML350

ML350 ABS, ESP inactive warning on. The Triangle with the ! point is flashing causing the breaks to lock up and make the car stop moving. Had transmission problem after this started happening. Took to the shop and had the transmission pump replaced due to missing teeth. Could this be from the ABS, ESP problem and how can I disable this function so that I can test transmission with out interference from the ABS system. I have heard you can disable the ABS system, can you please instruct me how to do this, thank you!