## 7 Conclusions  
The article highlights the differences and potential advantages of developing DTs in AS and Unity, showcasing the challenges and opportunities inherent in each development environment. The approach is multidisciplinary (automation and computer science, mechanical engineering, electrical engineering, and human-computer interaction), combining knowledge and methods from various fields to develop the efficient DT of the 3 DoF pneumatic robot. By integrating expertise from both AS and Unity, this paper showcases the potential of interdisciplinary collaboration in addressing the complex challenges and achieving innovative solutions in DT development. The paper effectively amalgamates the best of both worlds by creating an initial, accurate DT in AS and then expanding and enhancing it in Unity. AS was used for accuracy, clarity, and reliability in simulating pneumatic systems and was exploited by Unity for its versatility, creativity, and capacity to deliver an immersive, interactive experience. This combined approach results in a DT that accurately represents its real-world counterpart, offers improved user engagement, and has broader applicability.  
One future research direction is to investigate the possibility of creating hybrid frameworks that combine the strengths of both AS and Unity. Such frameworks allow for the streamlined development of DT with a focus on pneumatic/hydraulic systems while also providing the flexibility and versatility of Unity. This approach could lead to more efficient development processes and novel applications.  
The experience gained from developing a digital twin in both Automation Studio and Unity can be highly valuable for students and professionals alike. By working with these two platforms, learners can comprehensively understand the modelling and simulation process and the challenges and solutions unique to each environment. This immersive experience can enhance the understanding and retention of complex concepts related to mechatronic systems, as users (especially students who belong to the category of digital natives) can directly visualise and manipulate the digital twin in a three-dimensional space.  
An accurate DT enables industries to minimise costly downtime, reduce waste, improve efficiency, and ensure product quality. Moreover, it allows for the early identification and mitigation of potential issues, resulting in increased reliability and reduced maintenance costs. In safety-critical applications, an accurate DT can be vital in preventing accidents and ensuring the well-being of workers and the environment.  
The research leading to these results has received funding from the European Union's HORIZON-CL4-2022-TWIN-TRANSITION-01-01 research and innovation actions under grant agreement R3 GROUP Project GA no. 101091869, and by a research grant of the TUIASI, project number GI-TD-DigitAll-7/2022.  
Not applicable.  
The author declares no conflict of interest.  
The following abbreviations are used in this manuscript:  
\begin{tabular}{l l} TUIASI & Technical University \"[PERSON]\" from Iasi \\ DT & Digital Twin \\ CPS & Cyber-Physical Systems \\ I4.0 & Fourth Industrial Revolution, Industry 4.0 \\ IT & Information Technology \\ IoT & Internet of Things \\ IIoT & Industrial Internet of Things \\ AI & Artificial Intelligence \\ DevOps & Development and Operational Cycles \\ XR & Extended Reality \\ MR & Mixed Reality \\ VC & Virtual Commissioning \\ PLC & Programmable Logic Controller \\ RPP & Revolute Prismatic Prismatic \\ OPC & Open Protocol Communication \\ DoF & Degree of Freedom \\ AS & Automation Studio conceived by Famic Technologies Inc. \\ EOAT & End of Arm Tooling \\ M2M & Machine-to-Machine \\ SiL & Software in the Loop Simulation \\ HiL & Hardware in the Loop Simulation \\ PUN & Photon Unity Networking \\ RPC & Remote Procedure Call \\ HMD & Head-Mounted Display \\ HL & HoloLens \\ URI & Uniform Resource Identifier \\ \end{tabular}