Wow, I can't believe I left out the pickup control from the help menu all this time.
1) Press G.
2) Press S to start socketing, press the number that lines up with the bone in your bag, then if its a bone that can fit in multiple spaces, any other than the ribs, press the number that corresponds to that space (it shows up in the chat log).
3) When you press a button to start an attack, the next movement key you press will select the direction of that attack. All starting attacks are one tile range.
It's incredible looking back at this and seeing how terrible at user interface design I used to be.