This is the specification for the International Docking System, used on the ISS[0] for docking with spacecraft; and on the spacecraft themselves[1]. The specification goes into quite a bit of detail on how to design compatible hardware, and is a pretty interesting read in my opinion.
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[ 1.6 ms ] story [ 14.4 ms ] thread[0]: https://en.wikipedia.org/wiki/International_Docking_Adapter#...
[1]: https://en.wikipedia.org/wiki/Crew_Dragon_Demo-2#/media/File...