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If you don't want to use the existing CPL system (which probably makes sense for the beginning, since learning CPL and KnowRob at the same time can be a lot), then this sounds like a reasonable way to go. You can have a look at the action recipes created by the editor, which generate a state machine-like structure that could e.g. be translated into SMACH. I've done this for a non-ROS project in Java, and it was fairly easy.

Regarding the number of interfaces that need to be maintained, I would not expect them to be that many. I guess you can get a long way using just move_base, one action for Cartesian arm control and an action for the gripper. You can also define the mapping for super-classes of the ones that you use in the action recipes and inherit these properties.