Results from the previous tasks were transferred to the scenario of our industrial partner MEA that employs an industrial robot to solve a real-world bin-picking task. A stereoscopic laser scanner obtains depth images of filled transport boxes. The cylindrical objects relevant for the application are detected in all orientations and under various occlusions. Path planning is simplified by restricting robot movement inside the box to be always straight from top, which is made possible by an additional seventh axis that ends in a magnetic gripper.