Elon Musk’s SpaceX on Sunday successfully docked a company-owned capsule carrying a pair of NASA astronauts with the International Space Station, capping a weekend of notable accomplishments that opened a new chapter in commercial space endeavors.

Nineteen hours after a Falcon 9 rocket lifted off Saturday from Florida on a historic voyage featuring the first-ever private spacecraft to attain orbit with people on board, astronauts Doug Hurley and Bob Behnken made more history. They monitored the stately, automated rendezvous…

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