[JTC] Remove read_only from 'joints', 'state_interfaces' and 'command… (backport #967)

[mergify]

This is an automatic backport of pull request #967 done by Mergify.

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (87ef807) 47.30% compared to head (106c133) 47.90%.
Report is 2 commits behind head on iron.

Additional details and impacted files

@@            Coverage Diff             @@
##             iron     #969      +/-   ##
==========================================
+ Coverage   47.30%   47.90%   +0.60%     
==========================================
  Files          40       40              
  Lines        3655     3655              
  Branches     1728     1728              
==========================================
+ Hits         1729     1751      +22     
+ Misses        730      706      -24     
- Partials     1196     1198       +2     

Flag	Coverage Δ
unittests	47.90% <ø> (+0.60%)	⬆️

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see 2 files with indirect coverage changes