environment of a ROV in simscape

i exported my rov model from solidwork as you can see in the picture bilow i added a transforme sensor and a scoop so that i can see my rov under the influence of gravity but now i want to see my rov in the simulation move in the 3 axes x y z when i searched in internet it says that i need to creet and environment for my rov but i dont know how to do it would you please help me