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I hope I'm wrong but the operating mode might be hardcoded per the product model. For example:

DXL_MODEL_TO_PARAMS = \
{
    113: { 'name':               'DX-113',
           'encoder_resolution': 1024,
           'range_degrees':      300.0,
           'torque_per_volt':    1.0 / 12.0,                       #  1.0 NM @ 12V
           'velocity_per_volt':  (54 * RPM_TO_RADSEC) / 12.0,      #  54 RPM @ 12V
           'rpm_per_tick':       0.111,
           'features':           []
         },
:
     12: { 'name':               'AX-12',
           'encoder_resolution': 1024,
           'range_degrees':      300.0,
           'torque_per_volt':    1.5 / 12.0,                       #  1.5 NM @ 12V
           'velocity_per_volt':  (59 * RPM_TO_RADSEC) / 12.0,      #  59 RPM @ 12V
           'rpm_per_tick':       0.111,
           'features':           []
         },
:
    320: { 'name':               'MX-106',
           'encoder_resolution': 4096,
           'range_degrees':      360.0,
           'torque_per_volt':    8.4 / 12.0,                       #  8.4 NM @ 12V
           'velocity_per_volt':  (45 * RPM_TO_RADSEC) / 12.0,      #  45 RPM @ 12.0V
           'rpm_per_tick':       0.114,
           'features':           [DXL_CURRENT_L, DXL_TORQUE_CONTROL_MODE, DXL_GOAL_ACCELERATION]
         },
}

You could submit a feature request on the issue tracker but since the development is stale, sending a pull request might be the best idea.

I hope I'm wrong but the operating mode might be hardcoded per the product model. model and there might not be a way to change them programatically. For example:

DXL_MODEL_TO_PARAMS = \
{
    113: { 'name':               'DX-113',
           'encoder_resolution': 1024,
           'range_degrees':      300.0,
           'torque_per_volt':    1.0 / 12.0,                       #  1.0 NM @ 12V
           'velocity_per_volt':  (54 * RPM_TO_RADSEC) / 12.0,      #  54 RPM @ 12V
           'rpm_per_tick':       0.111,
           'features':           []
         },
:
     12: { 'name':               'AX-12',
           'encoder_resolution': 1024,
           'range_degrees':      300.0,
           'torque_per_volt':    1.5 / 12.0,                       #  1.5 NM @ 12V
           'velocity_per_volt':  (59 * RPM_TO_RADSEC) / 12.0,      #  59 RPM @ 12V
           'rpm_per_tick':       0.111,
           'features':           []
         },
:
    320: { 'name':               'MX-106',
           'encoder_resolution': 4096,
           'range_degrees':      360.0,
           'torque_per_volt':    8.4 / 12.0,                       #  8.4 NM @ 12V
           'velocity_per_volt':  (45 * RPM_TO_RADSEC) / 12.0,      #  45 RPM @ 12.0V
           'rpm_per_tick':       0.114,
           'features':           [DXL_CURRENT_L, DXL_TORQUE_CONTROL_MODE, DXL_GOAL_ACCELERATION]
         },
}

You could submit a feature request on the issue tracker but since the development is stale, sending a pull request might be the best idea.