Hey @mcamp,
We (Team ViGIR) developed FlexBE (Flexible Behavior Engine) for our entry in the 2015 DARPA Robotics Challenge finals. It’s an extension of SMACH and was the high-level executive running onboard our Atlas humanoid robot. One of the operators monitored and interacted with the executive via a GUI.
References:
- Overview, screenshots, and videos: flexbe.github.io
- Source code of engine core: https://github.com/team-vigir/flexbe_behavior_engine
- Various states and the GUI app: https://github.com/FlexBE