It is possible to run the simulated omni-wheel robot without plugins

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In my case, I want to build my robot in a simulation in order to test there some things, not in the real one but to have almost the same results as if I did it in the real one... it is achievable or it isn't worth it?

what kind of kinematic do like to use? if you have somethin like http://www.karispro.de/ then it schould work if you have some think like this one https://www.youtube.com/watch?v=rIiF0... you will not have bennefits compared to the planar mover.

It's something like this

if it is the 3 sweden wheel then it is in the same class as mecanum and you can use the planar mover. you can look at the https://github.com/GuiRitter/OpenBase may it helps.

Basically, I am trying to do the same as he does from around two weeks ago and it's difficult to implement it, and many problems in the movement were appearing.. maybe I am doing something wrong idk because I am relatively new to this environment. Nevertheless, I will move on with the planar move plugin so thank you for the time and help! If you want something to add, I am waiting.