Doesn't need to be in zero-G, just dangling a dummy off a harness should be enough. For attitude control I'd imagine gyros would be much more pragmatic, like a

Doesn't need to be in zero-G, just dangling a dummy off a harness should be enough. For attitude control I'd imagine gyros would be much more pragmatic, like a smaller scale 3D version of https://www.roborigger.com.au/ https://www.roborigger.com.au/