I don't think its a set back at all. The point is to not look at anything pornographic, rewire yourself to normal contact with a human being, and avoid orgasm for a period of time to give your brain a break. You are not breaking hard mode by doing this. You are engaging in a sexual activity with a person (not porn), as long as you are not feeling any counterproductive pressure to perform (causing anxiety or other feelings) this can be a positive step towards rewiring your brain to normal sexual stimuli and providing positive reinforcement for yourself. My one concern is that you are putting yourself in a situation that could easily lead to you O'ing (that would be breaking hard mode), so you have to be extra careful to try catch yourself before that point.