We might learn something taking a look at a previous robot simulator. It's name is Webots, unfortunately it's not free software and has many many things I dont like. However they have found the way to create models without writing C++ code, witch is, IMHO the most important needed feature. It seems Webots uses VRML to do *everything*. They have a GUI and you can download an evaluation program from its website: http://www.cyberbotics.com/products/webots/
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