--[Bugfix] Add new fields to test asset skinned_prism.ao_config.json.

[jturner65]

Motivation and Context

This PR removes a deprecated field and adds the new fields introduced in the "ArticulatedObject attributes and managers" PR to the test asset "data/test_assets/urdf/skinned_prism.ao_config.json", except for "urdf_filepath" which is purposely left blank to test that the config load process will successfully find the pertinent urdf, which must reside in the same directory as the json config if it is not specified explicitly in the json.

How Has This Been Tested

Locally c++ and python tests.

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.