This paper presents a low-cost, multi-modal, one-shot grasping pose estimation system designed for quick deployment on industrial shop floors, specifically designed for fragile, flat, highly reflective and partly texture-less objects like printed circuit boards (PCBs) . By leveraging RGB and depth data, object detection and 2d-orientation (twist) estimation are handled by Yolo8obb, the tilt of the orientation is handled by the depth information, while exact grasping point estimation is achieved using a template matching approach applied to the detections. This combination is computationally efficient and requires minimal data for training ensuring quick adaption to new PCB types. The system demonstrates robustness and reliability across various conditions, with opportunities for further enhancing accuracy through targeted tuning.