Kgries, just want to check if the images I see in my head works. Oh, agree with the person earlier cursing 9-5 jobs and all that I imagine an 2D drawing of an asteroid with a number of flat surfaces forming a circle, think of a dodecahedron with different angles, and its center of mass near the center. As I grab onto the asteroid the claw will do so at 90 degrees to the surface, i.e. the ships centreline is most likely not pointing at the center of mass. So, thrusting in this configuration will cause spin due to off center thrust. Now, unlock the claw gimbal and rotate the ship to center the pink marker. Lock the gimbal. This means that the thrust points directly at the center of mass, therefore not causing the asteroid/ship combo to start spinning? That´s your "attachment angle" zeroed out?