Thief of Propriety [Sleight of Hand]

Requires Hidden Action Feat

As long as you are hidden from a creature no more than one
size larger than you, you can try to steal an object that it is
holding or wearing loosely on its person. You must make a
Dexterity (Sleight of Hand) check contested by the target’s
Dexterity (Sleight of Hand). If you succeed, the creature
releases the object and you can choose to either take it in your
empty hand or force the creature to drop it.

Next Rank /Legerdemain/