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well-defined parameter types (#978)

* remove GCSPath fields to avoid artifact type confusion
change the type json schema field name to openAPIV3Schema
* fix unit tests; add unit test for openapishema property
* add ignore_type in pipelineparam
* change the names in the artifact types to avoid confusion with the parameter types
* based on the google python style guide, change the camel case to lower case with underscores

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