dynamixel_workbench 3 wheel omnidirectional robot setup

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Hello guys, I'm building a 3 wheel omnidirectional robot and I have in my disposal 3 dynamixel motors and a jetson Xavier. I followed the tutorial in the ROBOTIS page all the way down but there was no support for such an occasion. I'm using dynamixel_workbench package and despite i switched the default wheel operator.cpp file with teleop_twist_keyboard_cpp, and edited the joint.yaml file, the only movement I take is forward and backward. What should I suppose to change to have the right kinematics? Thank you!