## 1 Introduction
Procedures for the automatic generation of URDF files from Solid Works are the subject of research in [25; 26], for the visualization of a modular robot manipulator in [25], and a micro-assembly robot in [26]. Similarly to URDF, the XML-based Simulation Description Format (SDF) has emerged, expanding the possibilities of developing a robotic environment [23]. Because both URDF and SDF are XML-based, they follow the rules of XML syntax, making them both human-readable and machine-parsable. SDF was used to describe Building Information Modeling objects and has been integrated with the finite element method (FEM) and ROS to assess structural stability [27]. An overview of robot description formats and methodologies for visualizing robots and their environment is presented in [28]. The visualization of systems and devices, i.e., their virtual 3D models and digital twins (DTs), is recognized as a potential solution for the improvement of these processes and systems and therefore attracts extreme attention from the academic community and industry. An XML is one of the most commonly used technologies to develop a digital twin. In [29], due to the analysis of the sheet metal punching process, different configurations of sheet metal punching machines were developed with a complete virtual 3D scene in the form of XML files. In the example of a digital twin of the overhead crane [30], a system framework is presented for its integration into an Extended Reality (XR). The application of digital twins as possible answers to the challenges in production systems is the subject of research in [31; 32]. In [31], an overview of the possibility of digital twins to support the Human-Robot Collaboration in production systems is presented, as well as a comparison of key commercial software regarding the possibility of fulfilling the requirements for DT development. The review of research in [32] pointed out numerous gaps in the application of DT in production systems, as well as indicated directions for future research. As robotic systems become increasingly complex, the role of simulators has become highly important in robotics; this is due to the numerous built-in sensors that robots possess and the complex tasks they have to perform. The design, analysis, and performance optimization of robots, as well as their navigation of unstructured environments, can be significantly simplified by using software for modeling and visualization. In recent decades, many researchers have developed different software packages for simulating and visualizing robot applications; these have grown in popularity and play important roles in solving engineering problems. Some of the simulators commonly used for the development of mobile robot applications are Gazebo [33; 34], which is based on a Robot Operating System (ROS) [35; 36]; Rviz, 3D visualization tools for ROS [37]; Webots [38; 39]; MORSE [40]; CoppeliaSim [41; 42]; CARLA [43]; Raisim [44]; MARS (Multi-Agent Robot Simulator, developed in MATLAB) [45]; CARMAN (the Carnegie Mellon Navigation Toolkit) [46]; and MoveIt [47]. To enable the right simulator to be chosen for the development of a specific robotic application, many researchers have conducted overviews of the most widely used 3D robotic simulators and evaluated their properties [48; 49; 50; 51; 52]. The authors of [53] present a comparative study of Gazebo and Unity 3D in the development of a virtual model of the collaborative robot UR3 and its application for assembly work in production. Some authors suggest use of virtual reality (VR) [54], augmented reality (AR) [55], and mixed reality (MR) [56] as powerful tools for the modeling and visualization of complex systems. Some useful algorithms for the modeling and visualization of robots in MATLAB are presented in [57]. Generally, the popularity of mobile robots has grown significantly in recent years, attracting scholarly attention around the world. This study proposes a novel approach for the 3D geometric modeling of articulated mechanisms, based on the BondSim3 DVisual version of XML [58].