Protective Stop With Certain Controllers

[teapfw]

During the course of some testing, I used the launch script to connect a UR5e in remote control + headless mode. I noticed that if the default controller (scaled_joint_trajectory_controller) is started, I can tug on the robot's end-effector with moderate force and induce a protective stop. On the other hand, if I start a different controller such as forward_velocity_controller, it seems the same amount of force does not induce a protective stop. I have recorded the tool FT readings and they do peak above 100 Newtons, which is what I have the safety setting on the pendant set to ("most restricted" under robot limits, which has 100.0 N listed as the normal tool force limit). Why this difference? I am concerned the robot is not acting in its expected "safe" cobot mode. I am running ROS2 Humble.