Unity sample project for picking an object using Animator IK Used assets:
Character and rig: https://www.mixamo.com/
Floor object: https://sketchfab.com/3d-models/floor-a6728b1c19ec4ecab8d7725c64c50ef1
Crate object: https://sketchfab.com/3d-models/astro-gents-energy-crate-1246e4ccf86f48ceabb9b178bfaadbd6