I originated this robotics framework, which was used in several autonomous robotics projects for a major government contractor client.

These robots were stuffed full of sensors and computers, and Zeta allowed the robot engineer (often also me!) to author a file designating how everything was hooked up and what software modules should be run where. It would also handle the dataflow between modules and computers.

It was written in C and Python, with Panda3d for command and control.