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Once you've docked with something you'll be able to unlock the joint and swing your ship in line with the com of whatever you've clawed. You can then relock it so that when you push with your ship it doesn't turn. (because your thrust vector is now in line with the COM)
Try part 2 of the Asteriod Capture tutorial if you want to play around with a claw in space.
You approach with 0.5m / s or so and you touch the object with the claw. If it didn't attach, activate RCS and push forward slightly (forward if you control from the claw or a pod similarly oriented). On the second touch you have significantly higher chances to attach if the first attempt didn't succeed. Obviously, if you rotate your craft with the RCS tools and approach at the right angle, you wouldn't need this trick to make it work. It has to work this way or there is something completely off and we need screenshots.