[jchang254]

The default code should already be able to control the arm and gripper. Keep in mind that the program is designed to use dual-axis joysticks (like the logitech dual action gamepad) for input, and that keyboard controls are provided for backup only. Furthermore, the default setup is designed for a driver and operator. That being said, if you are looking to create your own custom code that uses only one joystick or something, there are instructions on the website on how to do that.

As far as the rapid development of the application, Unity handles a lot of the grunt work, making true RAD a possibility.