The VRML primitives (Cube, Sphere, Cylinder, and Cone) are the easiest elements to texture map. The syntax is very simple...
Separator { Texture2 { filename "mandrill.jpg" } Sphere { } }
The 2D image are referenced by the s, t coordinates on the surface that relate to the x, y, and z coordinates of the 3D geometry.
Example 1 Example 2 World Scientific examples