Merge commit '595c40920f31ba7b6674eb341548173e2aaf6ea7' * commit '595c40920f31ba7b6674eb341548173e2aaf6ea7': Implement a HierarchicalStateMachine
Merge commit '595c40920f31ba7b6674eb341548173e2aaf6ea7' * commit '595c40920f31ba7b6674eb341548173e2aaf6ea7': Implement a HierarchicalStateMachine