- Update to 2.15.1
  * the ASDF Standard is at v1.6.0
  * Drop Python 3.8 support [#1556]
  * Drop NumPy 1.20, 1.21 support [#1568]
  * Convert numpy scalars to python types during yaml encoding to
    handle NEP51 changes for numpy 2.0 [#1605]
  * Vendorize jsonschema 4.17.3 [#1591]
  * jsonschema vendorization
    - Asdf 2.15.1 includes internally a version of jsonschema
      4.17.3. This inclusion was done to deal with incompatible
      changes in jsonschema 4.18.
    - Many libraries that use asdf import jsonschema to allow
      catching of ValidationError instances that might be raised
      during schema validation. Prior to asdf 2.15 this error type
      was not part of the public asdf API. For 2.15 and later users
      are expected to import ValidationError from asdf.exceptions
      (instead of jsonschema directly).
    - To further ease the transition, asdf will, when possible, use
      exceptions imported from any installed version of jsonschema.
      This means that when the asdf internal jsonschema raises a
      ValidationError on a system where jsonschema was separately
      installed, the internal jsonschema will attempt to use
      ValidationError from the installed version. This should allow
      code that catches exceptions imported from jsonschema to
      continue to work with no changes. However, asdf cannot
      guarantee compatibility with future installed jsonschema
      versions and users are encouraged to update their code to
      import ValidationError from asdf.exceptions.
    - Finally, asdf is temporarily keeping jsonschema as a
      dependency as many libraries expected this to be installed by

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