When I set the safety factor to 1.0, the arm can still easily switch to the position mode.

[Shunichi09]

Description

When I set the safety factor to 1.0, the arm can still easily switch to the position mode from the torque mode.

I'm trying to build a direct teaching system and we need the gen2 (j2n6s300) arm to move by human hand.
However, even if I move the arm softly, the arm can still easily switch to the position mode.

Is there any solution for this problem??
I know that the safety factor decides the velocity threshold, so I think if I can change the velocity threshold and the arm will not easily switch to the position mode.
but how?

I really appreciate your help in advance! Thanks.

Version

The latest firm ware (v6.2.11)

Steps to reproduce

Simply run gravity_compensation.py and move the arm by human hand.

Expected behavior

The arm should stay in the torque mode.