Hi! Thank you for the response! 
I tried toggling simulate physics but it still wouldn’t pick up the object. Turning it on and off works but the object just sits on the ground after I interact instead of attaching to the socket. Any ideas on what could be causing that?
Rather than use forces, is there a way to make the object follow a set path through world space to give the illusion of throwing without making an animation? I have different objects that I want the player to be able to throw, some of different sizes/shapes.
Also as a note I ended up moving the pick up and drop code to functions within the object itself and am just calling them from the character now.