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Simplify schema around signature schemes
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Description

The schema could be simplified around public keys and signatures, in much the same way it was simplified around hashes, making use of the fact that in most signature schemes (including ristretto255-shake256), public keys and signatures are of fixed lengths.

This would also mean that the encoding of (for example) a SignedSimplePath would be shorter, since the lists of keys and signatures could each be concatenated into a single OCTET STRING, and easily parsed into separate keys and signatures by breaking them into 32- and 64-byte chunks, respectively. (At present, since COER sees them as open types, each key and signature would be prefixed by an indicator of its length.)