Hey, thanks a lot for commenting. That seems like a nice way to encode state. Did you ever have issues with multiple states being activated at the same time? I'll take some time to explore the hierarchical state machine, as I haven't seen an example of this short of HTN. Making it data-driven seems a nice and easy way to tackle the complexity. I like that

Is this not approaching how production rules/forward chaining works, or fluents in action logic? I think it is a nice system, but I am not sure if state machines are the right theoretical framework for it.