def goal_tree(goals: List[str], behaviors: Any, world_interface: Any) -> BehaviourTree:
    '\n    Construct a Behavior Tree strarting from the goals.\n\n    Args\n    ----\n        goals: list of all goals inferred from the demonstration.\n        behaviors: behavior in the demontration, as defined in robot_behaviors package.\n        world_interface: interface to the robot.\n\n    Returns\n    -------\n        tree: a Behavior Tree of goal conditions.\n\n    '
    tree = RSequence()
    for goal in goals:
        (node, _) = behaviors.get_node_from_string(goal, world_interface, None)
        tree.add_child(node)
    return tree
Construct a Behavior Tree strarting from the goals.

Args
----
    goals: list of all goals inferred from the demonstration.
    behaviors: behavior in the demontration, as defined in robot_behaviors package.
    world_interface: interface to the robot.

Returns
-------
    tree: a Behavior Tree of goal conditions.
def goal_tree(goals: List[str], behaviors: Any, world_interface: Any) -> BehaviourTree:
    '\n    Construct a Behavior Tree strarting from the goals.\n\n    Args\n    ----\n        goals: list of all goals inferred from the demonstration.\n        behaviors: behavior in the demontration, as defined in robot_behaviors package.\n        world_interface: interface to the robot.\n\n    Returns\n    -------\n        tree: a Behavior Tree of goal conditions.\n\n    '
    tree = RSequence()
    for goal in goals:
        (node, _) = behaviors.get_node_from_string(goal, world_interface, None)
        tree.add_child(node)
    return tree