Watching Dragon/Endeavour dock with the ISS, I was curious as to how they used thrusters to orient the spacecraft and “soft dock” with the ISS. The narrators didn’t mention what happened after the soft dock, but I imagine the “hard dock” was something like a convertible closing the roof where pins and hooks are used to lock both spacecraft together.
I was thinking it might be a simpler procedure for either Dragon or the ISS to extend a pole/boom like they use during aircraft in-flight-refueling where a boom is extended to catch a port. Once the boom is locked in, it could orient Dragon and pull it in for the soft dock. Has that ever been considered?