SCION-Java provides lightweight Java bindings to the SCION SCXML/Statecharts library.
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README.md

SCION is an implementation of SCXML in JavaScript.

SCION-Java provides lightweight bindings to the SCION library for Java, via Rhino. This allows SCXML to easily be used in Java development.

For a basic usage example of usage, see TestSCXML.java

Documentation is here.