In this paper we present the design and usage of the multi-purpose wireless network emulator that we develop, QOMET. QOMET implements a two-stage scenario-driven approach to wireless network emulation. We give here the details of the improved model and additional functionality that make it currently possible to use QOMET to convert a realworld scenario to a sequence of network-condition descriptors for a wide range of experiments. QOMET was used on a real network testbed to perform experiments involving emulated 802.11 a/b/g WLAN technology over wired networks for several types of scenarios. We shall illustrate this in the final part of the paper, with emphasis on networked robot emulation.