The StatechartViewer is a GUI to inspect currently running statecharts. Any state that is running can be loaded and inspected on all hierarchy levels. Additionally, the input-, local- and output-parameters are shown if a state was atleast visited once. Transitions of active states can be triggered by right-clicking on the transitions and selected the action in the context-menu. The following video shows the StatechartViewer briefly:

See also: ArmarX Statecharts; StatechartEditor