def METHOD_NAME(goal):
    """
    Convert a MoveBaseGoal to a much condensed representation: a list of [x, y, theta]
    :param goal: A moveBaseGoal
    :return: a compact representation of the goal
    :rtype List[float]
    """
    roll, pitch, yaw = tf.transformations.euler_from_quaternion(
        [goal.target_pose.pose.orientation.x,
         goal.target_pose.pose.orientation.y,
         goal.target_pose.pose.orientation.z,
         goal.target_pose.pose.orientation.w])
    return round_tuple((goal.target_pose.pose.position.x,
            goal.target_pose.pose.position.y,
            yaw), 1)