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The birth of the approach Model-Based System Engineering (MBSE) with a paradigm transition from document-based to model-based aims to improve the system architect activities. However, the methods and tools of this approach are inherited from software engineering, leading to various difficulties, such as the need for dispersed information in different views and models, increased complexity in human-model interactions for modelling tasks, highly codified data with domain-specific languages, substantial volume of data with esoteric diagrammatic representations, etc. Those difficulties make the adoption in the practice field extremely challenging. Virtual Reality (VR), on the other hand, offers interaction methods that are close to those used in the real world. Thus, the VR technology could address those challenges by integrating the possibility of having one complete immersive virtual environment encompassing all the presentations of different points of view, with more intuitive interactions with models. Consequently, this paper proposes a new human-centric MBSE modelling environment using 3D visuals, with the objective of an intuitive and complete environment to ease the collaboration of interdisciplinary co-design tasks in systems engineering. Formative usability tests with 3 groups of experts from different disciplines are conducted with a questionnaire and an interview with open questions. The overall evaluation of the user experience with the immersive virtual environment was very positive. Experts demonstrated great interest in the environments for easier-to-understand representations, more ludic user experience, and improvements in the co-conception activities. More experiments with quantitative analysis will be conducted for the next step, and future studies will focus on extending the proposed modelling environment for symmetric/asymmetric collaboration and complex industrial product-process systems.