feetech servos require goal_velocity and goal_acceleration to be set

### System Info

```Shell
S0-101 built by vassar robotics (navrim model). python 3.10.16. macos.
```

### Information

- [ ] One of the scripts in the examples/ folder of LeRobot
- [ ] My own task or dataset (give details below)

### Reproduction

I am brand new to robots so this feedback is from a total noob. However, I couldn't get this robot to move until i set goal_velocity and goal_acceleration for the feetech servos. Everything else worked fine (calibration, etc...), but the cmd to set goal_position would not do anything.

Mostly just posting in case its useful info to others.

### Expected behavior

I expected the example scripts for teleop to work with the feetech servos (but maybe that's just not officially supported).

Start by reproducing the report on the S0-101 setup described, using the Feetech servo teleoperation examples. Check whether goal_velocity and goal_acceleration are configured before goal_position is sent. Done means the example works as expected without undocumented manual steps, or the required setup is clearly documented.

Written by the indexing model from the issue text.