We have a lot of larger, hierarchical state machines in https://github.com/tue-robotics/tue_robocup
I just noticed the README is a little out of date, the robot_smach_states and robot_skills repos are merged into this bigger one and no longer separate repos.
We do keep some logs of the execution, but I can’t access them cuz’ I’m at work and moreover our server is still in transport after RoboCup 2017 in Nagoya.