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Hierarchical envs refactor

Manfred Eppe requested to merge hierarchical_envs_refactor into devel

Main refactors:

  • removed parent_env references
  • bottom_env now has a list with the goals of all layers (to be able to display them)
  • the (sub)goal visualization works differently
  • the creation of environments is no longer recursive but happens in a for-loop
  • comments/documentation

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