I've become quite annoyed with trying to build a compact and lightweight 2 stage lander. It seems the way KSP chooses to connect parts doesn't allow tucking the ascent stage engine inside the body of the descent stage (Yes, you can use an interstage, but there your lander is waaaaay taller that is even ridiculously acceptable). But also, you can't place extra fuel pods, electronics, or whatever else inside the inner wall of an interstage. I've posted an image explaining what I'm trying to accompish, and my question is has anyone else been able to produce this? If any of you have, and you've used addons, please list them. Please help. Thanks!
I didn't find the right solution from the Internet.