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Logic is : after detecting item, we clear around item with a radius of 4 . If we havent moved away to much from item (distance <=4) we can attempt to pickup item directly. otherwize we try to move closer with a distancetofinishmovement of 3 (thats perfect melee and interaction range). Now its passed to Pickup_item step wich verify if we have line of sight, also double check distance and attempt to pickup item. If we get ErrNoLOSToItem it will go back to action item_pickup and moveBeyondItem (item position +2 distance). it will attempt to step pickup_item again after. If for some reason it failed to pickup item, added a second ClearAreaAroundPosition with smaller radius (3) just in case some monsters added/were undetected before giving up.
If all attempts failed.. blacklist =(