When using docking mode, you can set RCS thrusters on rotation or translation modes. This doesn't make the spacecraft rotate in full translation or rotation. Rotating on rotation mode will induce a small translation. The only way to fix this is to place all thrusters at exactly the same distance from the center of mass.
For example, if I am using two thrusters pointing perpendicularly to the turning axis and one of them is at the centre of mass, that thruster wont fire. What I want is for both to fire with the same thrust. That will get rid of the induced translation.
It would be nice if the the thrusters were balanced to act in full rotation or full translation. Otherwise, being able to edit which thruster pair you want to fire when rotating on each axis would solve this.