Pickup moves time forward, but it's only 20% of a turn equivalent, same as rotation.
During pre-alpha development, I implemented pickup on "p" hotkey, that might still work when you stand directly on top of items. Unfortunately, it's usage is very limited when a too heavy thing is "on top". Now it's possible to pick up items from around you in the box, and it might be too confusing to figure out what was picked up. I might be able to reimplement the key to pick up the first item you see in the box, but it won't solve the "too heavy" situation.