Upgrade schemas to draft 2020-12 and scope joint data inside of joint #30
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This PR has 2 changes, which would conflict with each other so I just did it as one PR.
Upgrade JSON schemas to draft 2020-12, from draft 04. Khronos has already upgraded the core glTF schemas to the newer draft 2020-12 and doing so for extensions is still a work-in-progress. See Consistent JSON schema version for core and extensions KhronosGroup/glTF#2049 for discussion. Existing files such as the box shape were already using a feature only available in newer schemas,
"exclusiveMinimum"set to a number, which makes it not a valid draft 04 schema. So we may as well upgrade all the way, instead of downgrading those fields."enum"to"const", adding"$id", and using"exclusiveMinimum".Scope joint limits and drives schemas inside of joint. This means that I renamed
joint_limittojoint.limitandjoint_drivetojoint.drive. This ensures the schema file names reflect the structure of the data.