Is it need to have two computers profile and sender to do Diy 2dof platform

No it is not necessary to use 2 computers, you can run SimTools and the game on a single computer and that is the most common configuration.

Grab a copy of the SimTools manual here: https://www.xsimulator.net/community/faq/rtfm-start-with-the-official-simtools-documentation.117/

I would suggest you try the correct version of SMC3 for whatever shields you intend using, and wire it accordingly, as the motors do need PSU(s): https://www.xsimulator.net/community/faq/arduino-code-for-use-with-various-hardware-and-simtools.31/