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This sim was released for the first human mission Demo-2. Back then I also created an autopilot, written in Go and running in the browser via WebAssembly: https://github.com/mbertschler/dragon-iss-docking-autopilot
This autopilot doesn't use the rotation and translation rates as input, just the momentary values. It also uses the same control function for all axes.
Video: https://youtu.be/jLTr6UwuSd4
ha! this is a very cool simulator, I wrote a simple auto-pilot for in in Lisp a while ago - https://github.com/qnkhuat/spacex
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