I am not sure if this is an issue with the CSC or with the low level controller but we are constantly getting failures in state transition with the MTHexapod component when operating with the real hardware.
Assuming the system is in STANDBY state
most of the time, though it works some times. Despite the failure reported above the CSC does transition to DISABLED state shortly after.
I wonder if the CSC should allow a bit more time for the state transition to occur, or if the low level controller is reporting the command as completed too early.