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Warehouse order picking activities are among the ones that impact the most the bottom lines of warehouses. They are known to often account for more than half of the total warehousing costs. New practices and innovations generate new challenges for managers and open new research avenues. Many practical constraints arising in real-life have often been neglected in the scientific literature. We introduce, model and solve a rich order picking problem under weight, fragility and category constraints, motivated by our observation of a real-life application arising in the grocery retail industry. This difficult warehousing problem combines complex picking and routing decisions under the objective of minimising the distance travelled. We first provide a full description of the warehouse design which enables us to algebraically compute the distances between all pairs of products. We then propose two distinct mathematical …