According to an aspect of the present invention, there is provided a method comprising: propelling a servicing spacecraft to an object; deploying one or more counter mass(es) away from a servicing spacecraft bus to offset the center of mass of the servicing spacecraft into an empty volume; approaching the object, by the servicing spacecraft; positioning the center of mass of the servicing spacecraft in approximately the same location as the center of mass of the object; imparting angular momentum to the servicing spacecraft to match the tumble rate of the object; and contacting the object with one or more mechanical attachments to the servicing spacecraft.

Systems and methods disclosed provide for attitude control of a body, the body including a plurality of thrusters and a plurality of gimballed rotors. Operations performed include: receiving a command vector representing a desired torque on the body, generating a Jacobian matrix that, when applied to a combined gimbal rate and thrust command vector, generates the command vector, generating components of a weighted pseudo inverse of the Jacobian matrix and using the components with the command vector in order to generate the combined gimbal rate and thrust command vector. Generating components of the weighted pseudo inverse of the Jacobian matrix can include generating a weighting matrix including a plurality of diagonal elements, the plurality of diagonal elements representing at least the plurality of gimballed rotors and the plurality of thrusters.