Is it permissible to take one's right from a person whose money is unlawful, and how can one obtain their right if that is not permissible?

Unlawful money is of two types: The first is that which is unlawful due to its acquisition (such as usury and prohibited transactions). It is permissible for you to take your due from it because its unlawfulness is specific to the acquirer. The second is that which is unlawful due to its essence (such as stolen or usurped property). It is not permissible to take it because it belongs to its owner and must be returned to him. Ibn Uthaymeen mentioned that what is unlawful due to its acquisition, like the money of a usurer, is lawful for his heirs, while what is unlawful due to its essence, like stolen property, is not lawful for the heir and must be returned to its owner or given away in charity.