Usually you would gain negative reputation with one of the factions (visible in the log) or be attacked immediately but more often than not you can just walk up to a chest or a door (while not in stealth) and pick the lock with no repercussions whatsoever, despite NPCs being close or even having a direct line of sight on you and/or the lockpicked object.

 

One instance would be the door to the VTCHQ's Director's Office, as reported in another context here.

 

 

Another one the chest in Atello Valera's office, which you can just walk up to and lockpick in the presence of Atello and Martino Valera with no consequences at all.

 

Greetings,

 

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