NASA's Discovery Space Shuttle made a successful launch on Thursday afternoon to deliver a final module to the U.S. segment of the station, the Leonardo Permanent Multipurpose Module (PMM), as well as transport the first humanoid robot to fly in space, Robonaut2.

The historic launch came after a last-minute technical glitch with the Air Force's Eastern Range that left only four seconds in the launch window and a practical limit of two seconds, because of draining requirements with the external fuel tank.