Hi.
In The sample he showed i would do something like this :
State 1:
action 'Get distance'
Then a 'float compare' and if less than 0.05 go to next state.
Then the lerp stuff on line 20
state 2 :
print reached the target
'wait' set to 3 sec and finish
state 3
coroutine finished
there are many other similar ways you can use this.
for example on state 1 send a event (doSomething) to another fsm
then on state 2 send a event (StopDoSomething)
on the other fsm have 2 global transitions (doSomething and StopDoSomething)
and set them to global.
Here is a video about local/global :