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Open logistics view with F4, then on the right side select the cargo box that has the large item. Between the two inventory windows there's a button that looks like a disconnected plug. Left click that and you will now be connected to the inventory of that box.
It's background will be yellow and the toolbar will now be yellow and empty. Place the large item from the cargo box in a toolbar slot and close the inventory screen. Make sure the item is selected in the toolbar and you can now place it as if it was in your regular toolbar.
T key toggles between connected and regular toolbars.