A cargo ship owned by Space Exploration Technologies, or SpaceX, arrived safely at the International Space Station on April 20, with a delivery of supplies and science experiments for the crew.

A pair of legs for an experimental humanoid robot aboard, that could be used in a spacewalk one day, was also sent up, according to Reuters.

Station commander Koichi Wakata used the outpost's 58-foot robotic crane to capture the Dragon capsule from orbit at 7:14 a.m.

It took 36-hours for the cargo ship to arrive at the ISS.

At the time, the $100 billion project of 15 nations, was sailing 260 miles over the Nile River, according to Reuters.

Three hours after the crew was able to bolt the capsule to a docking port on the station's Harmony module.

They're scheduled to start unpacking the capsule today, April

"The Easter Dragon is knocking at the door," astronaut Randy Bresnik said to the crew from Mission Control in Houston, according to Reuters.

SpaceX originally planned to launch its Dragon cargo ship in March. The launch was delayed by technical issues, including a two-week period to replace a damaged U.S. Air Force radar tracking system.

The Falcon 9 rocket carrying Dragon lifted off at 3:25 p.m. on April 18 from Cape Canaveral Air Force Station in Florida.

Once the Falcon 9's first-stage section separated from the upper-stage motor and Dragon capsule, the rocket relit some of its engines to fall through the atmosphere and position itself to touch down vertically on the ocean before gravity "turned it horizontal," according to Reuters.

The booster was equipped with four 25-foot-long landings for stabilization.

SpaceX is aiming to return a Falcon 9 booster to land before the end of 2014. The company plans on recovering and reusing its rockets to cut down on launch costs.

"There are just only a few more steps that need to be there to have it all work," Elon Musk told reporters last week, according to Reuters. "I think we've got a decent chance of bringing a stage back this year, which would be wonderful."

SpaceX is one of two companies hired by NASA to fly cargo to the ISS after space shuttles were retired back in 2011. The company is also working on creating a space taxi to transport astronauts quicker as well.

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