Revert "[JTC] Remove read_only from 'joints', 'state_interfaces' and 'command_interfaces' parameters (#967)" (backport #978)

[mergify]

This is an automatic backport of pull request #978 done by Mergify.

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (73282d9) 47.25% compared to head (5236c6f) 46.82%.

Additional details and impacted files

@@            Coverage Diff             @@
##           humble     #986      +/-   ##
==========================================
- Coverage   47.25%   46.82%   -0.43%     
==========================================
  Files          40       40              
  Lines        3722     3722              
  Branches     1780     1786       +6     
==========================================
- Hits         1759     1743      -16     
- Misses        723      738      +15     
- Partials     1240     1241       +1     

Flag	Coverage Δ
unittests	46.82% <ø> (-0.43%)	⬇️

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see 3 files with indirect coverage changes

[saikishor]

LGTM