@mcamp That’s great that you’re interested in SMACH. If you’re looking for a SMACH project that will work in simulation, you might be interested in trying to resurrect the PR2 recharge executive. This was used as an integration test that ran fully in gazebo back in the day.
I also recall someone surveying SMACH use in the community a while back.
As an aside, there is a currently unreleased rqt_smach: https://github.com/ros-visualization/executive_smach_visualization/tree/rqt-experimental that you might be interested in using and/or contributing to.