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As the title says, it seems to pick up any items lying on the ground in its range, which normally isn't a problem but... as I found out, it also happens with items in inserters hands that cant be put anywhere like when the belt is full
( example with a full belt of piercing magazines: https://imgur.com/Frofyqs)
I tested this and don't see it taking stuff out of an inserters hand. Only if it's on the ground.
So if the inserter places it on the ground, then yes it will pick it up.