To get started with SGOAP, highly recommend reading over the introduction and get a good understanding on a high level how it works.
Once you have a rough understanding, it would be a good idea to go through a few exercises below which will teach you about combining actions, if you want a quick start, check out the RPG Example below which currently is the most fleshed out.
Tutorials
Tutorial: Animation with Actions
With these, you might feel ready to implement your own AI but SGOAP is really just a procedural state machine, integrating existing systems or full game systems can become very complicated, for that, I’ve added a more generic example on how I like to approach it.