1. X3D is the (XML-ified) successor to VRML2, both formats should work equally well in theory (but in practice it cannot hurt to try both in case of problems, as the respective export modules of your software will probably have been written at different times and by different people)
2. VRML/X3D uses metric units by convention
3. You have two choices for color - "vertex painting", that is assigning a color to each point of the mesh (or to each object, as the format supports basic primitives such as sphere,cylinder, etc.) or "UV mapping" of a suitably oriented image file. In the former cases, all information is in the single .wrl or .x3d
file, in the latter you will have one geometry file (.wrl or .x3d) and one texture (png,jpg or whatever - but read the box on the upload page for supported
formats), which you need to zip together for uploading. It is important that the zip archive contains just these two files, no folder structure and no other files.
Also you will typically have to link the texture to the geometry in your modeling software, a step usually called "baking" of the texture. Without this, the texture file will usually be completely ignored. If all goes well, the x3d or wrl file - which is readable text (for some definition of "readable") - will contain
an "ImageTexture" declaration that gives the name of the texture file. Again it is important that this is just the file name without any folder names or windows drive letters prepended. Best check this with a text editor, and also get a vrml/x3d viewer such as the freeware view3dscene to verify that the texture is positioned correctly - what you see in your modeling software is not necessarily also what it will actually export.