[Henrique Schmit]

Maybe and Maybe, i can't be sure, but i believe that it would be no for the traction wheels with the omni ones inside because the traction wheels would have to travel a greater distance creating friction with the carpet, therefore making your turning worse than it'd be if you had the 4 traction wheels inside and the 4 omni wheels outside, and this second would have about the same effect against being pushed by the side as the first one. I suggest you have a look at 971's robot, they have a diamond shaped frame and a low friction bumper material, that is pretty good to avoid being pushed by the sides. Regarding the mecanum wheels with traction wheels, i believe it would give you omni directional movement, but it would be so bad your drivers wouldn't even use it, the traction wheels would be holding your robot so it didn't move sideways while you tried to move sideways. if you want mecanum wheels with traction you should try an octanum drivetrain, where the traction wheels can touch, or not, the floor, and you control that with pistons