refine format: no arrays around definitions #16
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This PR refines the NDJSON format based on the discussion in #14, and removes the grouping of definitions, theorem or opaques in arrays, simplifying the format and the exporter code.
This bumps the format to 3.1.0.
I took the liberty of polishing some field names (no need to include
Info, since we are anyways not followingConstantInfodirectly), and added more comments and information to the format description.