Hi Samia, There are 2 main methods how to combine robot and the environment scene: Using PROTO (EXTERNPROTO) mechanism and using Inline nodes, see VRML97 standard:
http://www.web3d.org/documents/specifications/14772/V2.0/part1/concepts.html#4.8
http://www.web3d.org/documents/specifications/14772/V2.0/part1/nodesRef.html#Inline
Inline nodes are useful when each robot part is defined in a separate file. PROTO allows you to export only those properties that you want to control from MATLAB/Simulink, leaving all other model properties internal to the robot model.
The Inline method is described here: https://www.mathworks.com/help/sl3d/import-vrml-models-from-cad-tools.html
(files in /rotating_pendulum subdirectory of the Simulink 3D Animation sl3d\sl3ddemos directory)
Examples of using PROTO:
Look at the vr_octavia_2cars.slx model - 2 cars are there modelled as EXTERNPROTOS, 2 cars instantiated in the main scene, the main scene can be very neat and understandable even when editing in a text editor:
octavia_scene_lchg_2cars.wrl
octavia_protos.wrl
With Best Regards,
Jan
