NASA-AMMOS/aerie

Procedural Scheduling Follow Up: Rework `GoalId` to remove `Optional`

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Comment from original PR: #1496 (comment)

Body of comment:

GoalId should be split into a pair of GoalInvocationId and GoalDefinitionId (or something similarly named). This will avoid us needing to use Optional to meet the one use case of updating a goal definition's parameter schema.