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I'd recommend using a bit of smoke & mirrors for this.
Copy the object you wish to pick up & add it to the puppet hand group but make it invisible.
Make a pickup animation that is activated by a button press when in proximity to the object that is to be picked up.
When activated, the animation makes visible the object in the puppet hand & simultaneously destroys the object being picked up. (a wireless transmitter on the puppet sending a signal to a receiver & destroyer on the object can achieve this).
Then make a throw animation that emits a new object from the hand (but outside of the puppet group) & makes the object in the hand invisible again.
This covers the basic concept as an in depth explanation of everything would be a wall of text. Let me know if you have issues with any of it & I'll try help further.