YouBot Vrep Interface Test Failure

[YuheGong]

Dear DQ robotics team,

I have made a small YouBot program following the instructions in repo: dqrobotics/matlab/interfaces/vrep/robots/YouBotVrepRobot.m, and make some small changes.

However, the control code fails

1. vi.start_simulation(); will make the robot move, even I don't give any control command. So the robot cannot follow any control commands and just run a circle again and again.

2. Since youBot has two part: the 3DoF base and 5DoF joints, the control command will be separated into two part:
   robot.vrep_interface.set_joint_positions(robot.joint_names,q(4:8)); % Set joint angles
   robot.vrep_interface.set_object_pose(1, pose * robot.adjust'); % Set base pose
   But the base code doesn't work, I have tried to run only give the joint angles, the joint angles changes, however when I only set the base pose, the base doesn't move at all. (And those set pose and set joint cannot run together with vi.start_simulation(), once I use vi.start_simulation(), the robot doesn't receive any control commands, like the first problem. )
   YouBot.zip

May I get some idea of how to tune the robot and let it work?
Thanks very much!

Best regards,
Yuhe