Reject writes to the read-only DOF drive type attribute

ovphysx documents ARTICULATION_DOF_DRIVE_TYPE as read-only, but the attribute
was missing from _READ_ONLY_NAMES, so set_attribute accepted writes to it and
forwarded them to the binding instead of raising.

An audit of the whole classification against the wheel's type table found this
to be the only gap: of the twenty-one types ovphysx documents as read-only,
twenty were already classified, and no member was misclassified.

This is a behavior change. Writes to articulation_dof_drive_type that were
previously accepted now raise OvPhysxView.ReadOnlyAttribute. Drive type is
authored through the USD drive schema, not the tensor path.

The existing read-only behavior test is parameterized over the expected
inventory, so adding the name there also asserts that a write raises and
leaves no binding behind.

Author: AntoineRichard

source/isaaclab_ov/changelog.d/ovphysx-cpu-only-tensor-types.minor.rst

@@ -9,3 +9,9 @@ Fixed
   incurred a hidden per-call host-to-device staging copy, and a correctly placed
   host buffer was rejected with ``OvPhysxView.DeviceMismatch``. Residency was
   measured on a GPU simulation by counting CUDA memcpys around a binding read.
+* **Breaking:** Fixed ``articulation_dof_drive_type`` not being classified as
+  read-only. The underlying tensor type is read-only, but
+  :meth:`~isaaclab_ov.sim.views.OvPhysxView.set_attribute` previously accepted
+  writes to it and silently forwarded them. Such calls now raise
+  ``OvPhysxView.ReadOnlyAttribute``. Remove any write to this attribute; drive
+  type is authored through the USD drive schema, not the tensor path.

source/isaaclab_ov/isaaclab_ov/sim/views/ovphysx_view.py

@@ -79,6 +79,7 @@
         "articulation_body_inv_mass",
         "articulation_body_inv_inertia",
         "articulation_dof_projected_joint_force",
+        "articulation_dof_drive_type",
         "articulation_jacobian",
         "articulation_mass_center_world",
         "articulation_mass_center_local",

source/isaaclab_ov/test/sim/test_ovphysx_view.py

@@ -54,6 +54,7 @@
         "articulation_body_inv_mass",
         "articulation_body_inv_inertia",
         "articulation_dof_projected_joint_force",
+        "articulation_dof_drive_type",
         "articulation_link_incoming_joint_force",
         "articulation_mass_center_world",
         "articulation_mass_center_local",
@@ -243,6 +244,7 @@ def test_read_only_names_are_valid_vocabulary():
 def test_read_only_and_cpu_only_classification():
     assert is_read_only("articulation_jacobian")
     assert is_read_only("rigid_body_acceleration")
+    assert is_read_only("articulation_dof_drive_type")
     assert not is_read_only("articulation_dof_stiffness")
     assert is_cpu_only("articulation_dof_stiffness")
     assert is_cpu_only("rigid_body_mass")