how to covert this maze environment (VRLM) into matrix or binary format zero & one?

HI there

i designed this environment using SolidWorks software and exported it to wrl extension format(VRLM 97) then opened it in 3D editor in matlab

the problem is how can i generate look up table(the robot has ability to move in the given spaces with avoiding obstacles) based on my Maze environment design so that the robot will avoid the obstacles and run inside the maze without passing through the virtual wall of this Maze thank you so much