Abstract: A system for filling orders, such as prescriptions for patients, having a generally cylindrical storage area for holding packages in known locations. Each location has a unique (r,.theta.,Y) coordinate. The system also has a computer controlled device for picking packages from selected locations in the storage area. The picker can also be provided with a sensor for detecting rods which hold the packages and relaying the coordinates of the selected locations to the control system. The system may also include a conveyor and a transfer device from the storage area to the conveyor. The picking device deposits the picked packages in the transfer device which directs the packages into a tray on the conveyor. In one embodiment, the contents of each package is a single dosage of medicine.