How can I disable smach state transition log messages?

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As those Q&A entries say, there is currently no clean solution to your problem for Python logging.

It's ugly, but I suppose you could check out a SMACH source overlay and comment out the offending log messages in that local copy.

You can also open a defect ticket, to suppress those messages in a future release. That seems valid to me, although the SMACH developers might disagree.

I haven't tried it, but with a version of ROS newer than August 2012 it should be possible to do something like the following:

import logging
class Filter(logging.Filter):
    def filter(self, record):
        return 'State machine transitioning' not in record.msg
logging.getLogger('rosout').addFilter(MyFilter())

        smach.set_loggers(rospy.logdebug, rospy.logwarn, rospy.logdebug, rospy.logerr)

provides a way smarter log level for smach.