How to simulate a bike model in Simulink 3D animation using given parameters?

I have a CATIA bike model imported in wrl format. I intend to give the bike roll and pitch to the bike and simulate it. Translation of the bike has been achieved but rotation about any given axis is not proper. The axes for rotation seem to be different. The concept of SFrotation is not clear for me as the axes for translation and rotation seem to be different.

Here is the slx file screenshot

Also, the bike model has 2 children. The handle and the body. When I rotate the whole bike and intend to yaw only the handle for steer, the rotation results in separation of the handle from the bike like this

Can someone point out where I am going wrong as I have been working on this for a long time and yet unable to understand what the problem is. Also, are there any examples online to learn Simulink 3D animation in MATLAB for beginners?

Any help would be appreciated. Thanks in advance.