## 1 Introduction  
With the development of 3D CAD technologies, the visualization of processes and systems has become a powerful method and has been increasingly used in the processing of new products and process design, providing numerous benefits, such as a shorter development time and lower costs, the possibility of testing and verifying functionality before a product's production, the ability to check possible part collisions in space, the ability to compare different product and process solutions to choose an optimal one, etc. The idea of gaining remote access to the information of automatic systems and their visual representation appeared with the invention of the Internet. In [1], online approaches are proposed for the remote control of automatic systems based on synchronous and asynchronous capabilities to control the developed 3D models using XML (eXtensible Markup Language) technology. Many researchers have developed simulators with visual programming environments for the education, development, validation, and optimization of various products and processes. To simulate both industrial automation and embedded control systems in a 3D environment, many software have been developed and widely used,including the following: Factory I/O (by Real Games) for industrial automation training and factory process simulation; Siemens Tecnomatix Plant Simulation for large-scale factory and industrial system modeling; Automation Studio (by Famic Technologies) for hydraulic, pneumatic, and PLC-based automation; etc. Simulators have been used as effective tools in numerous studies for optimizing energy consumption [2] and controlling noise due to flights of unmanned aerial vehicles systems, such as drones [3]. A very important area of the application of simulators is in the educational process, where, without the need for access to real physical equipment, one can master their operation, and they are widely used in educational processes in various fields, including medicine [4; 5; 6], aviation as flight simulators [7; 8; 9], and STEM education [10]. In order to improve microcontroller-based education, a 3D virtual factory simulator was proposed in [11], as well as Tinkercad (from Autodesk), Proteus (from Labcenter Electronics), and many others. A systematic review of driving simulator validations is provided in [12] in the context of educational robotics [13], training simulators for manufacturing processes [14], body measurement technology in digital skiing [15], and many others. The popularity of XML-based languages has increased in recent years due to the possibility of exchanging data between heterogeneous systems, and they have been addressed in numerous studies, including the following: XML-based Robot Description Language for describing robot structures was presented in [16]; RoboML based on XLM for robot programming in [17]; AVSML (Agent and Virtual Space Markup Language), an XML-based markup language for integrating web information into virtual 3D space in [18]. In [19], an application for the robot palletizing process was developed in the ABB native language RAPID, with an interface written in XML that has the ability to work together with the software for offline robot programming RobotStudio. An XML was used as the basis for a new language to specify a video game--Video Game Description Language (XVGDL) [20]. One of the most common robot description formats--Unified Robot Description Format (URDF)--was introduced in 2009 [21; 22] with the development of an open-source set of software libraries and tools for building robot applications, named the Robot Operation System (ROS). URDF is based on XML technology and was applied to describe the kinematic structures of robots, their dynamics, and geometry [22; 23]. The self-calibration procedure of a low-cost five-axis 3D printer, where calibration data were used to generate a kinematic model in URDF format, was proposed in [24].