rskill.yaml: sync to OpenRAL namespace + current schema (joint_units, evaluated_tasks, ADR-0071)

rskill.yaml

@@ -5,7 +5,7 @@
 # (`joint_names` + `positions`) and lowers it into a MoveGroup
 # `joint_constraints` goal — the clean, LLM-facing form (positions, not
 # hand-written constraint dicts). Renamed from `openral/rskill-moveit-plan-arm`
-# under ADR-0052 (the `rskill-moveit-*` family: -joints / -eef-pose / -look-at
+# under ADR-0054 (the `rskill-moveit-*` family: -joints / -eef-pose / -look-at
 # over one ROSActionRskill engine).
 #
 # Collision posture: MoveIt's internal FCL planner does self + planning-scene
@@ -73,7 +73,7 @@ ros_integration:
   # `MoveGroup.Result.planned_trajectory.joint_trajectory` is reordered into the
   # host RobotDescription.joints order before per-waypoint chunk emission.
   result_trajectory_field: "planned_trajectory.joint_trajectory"
-  # ADR-0052 — selects the JointGoalRskill goal-lowering adapter: the `joint`
+  # ADR-0054 — selects the JointGoalRskill goal-lowering adapter: the `joint`
   # block below (joint_names + positions) is lowered into
   # `request.goal_constraints[0].joint_constraints` at configure time.
   goal_builder: "joint"