I have a VRML file of a mecanum wheel based robot, is it possible for me to simulate it in simulink, indicating how much slipping has occurred in each wheel?

I have to simulate a mecanum wheel based robot, and i dont know what to do, I have managed to acquire and modify a 3d model of a robot, but how do i simulate it? i have to simulate the robot so as it moves in a straight line and a curved path, and shows how much slipping has occurred in each wheel and how much the robot has deviated from its path...