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Is your ship a drone, or does it have a cockpit? If it has a cockpit, and the cockpit block has access to parts through the conveyor system, you can activate cockpit building mode and place blocks like that.
Not completely sure on the key. but it's H, or something adjacent to it.
Build mode from cockpit is ctrl+G im fairly sure.
Was thinking it wasn't that because it's too easy to accidentally hit G and open the wrong menu... maybe I rebound it though.
Either way, it'll be in the keybinds.
In other words, literally once ever.
I always sort of wanted to set up a welding-construction arm inside of a docking slip; one that could rotate around the ship it was building, extend and retract, and place things, all connected back to the station's main cargo hold. Unfortunately, controls never stopped being too clunky to use it without getting seriously disoriented.
used it only once. nice idea, but who rly needs it...