AI pick object

Hello all,

I have avatars in the scene and they walk around a supermarket and pick up an object once enter a collider.

Following this answer: http://answers.unity3d.com/questions/535406/how-to-grab-pick-and-place-an-object-to-other-loca.html

and a script (below), I've managed to get the avatar to pick the object and make the object a child of the avatars' hand. BUT even though the object is a child of the avatars hand, it's not in it's hand, but it's somewhere near the hand following the avatar everywhere. How do I solve this problem? Can I give a function that resets the objects transform once it's at avatars hand?

I've already used:

  Use this .transform.SetParent(this.gameObject.transform,false);

But it didn't work for me.

Here's the code in C#:

 using UnityEngine;
 using System;
 using System.Collections;

 [RequireComponent(typeof(Animator))]

 public class IKControl : MonoBehaviour
 {

 protected Animator animator;

 public bool ikActive = false;
 public Transform rightHandObj = null;
 public Transform lookObj = null;

 void Start()
 {
     ikActive = false;
     animator = GetComponent<Animator>();
 }

 public void OnTriggerEnter(Collider other)
 {
     if (other.gameObject.tag == "Product")
     {
 ikActive = true;         
     }
 }

 public void OnAnimatorIK()
 {
     if (animator)
     {
         if (ikActive)
         {
             if (lookObj != null)
             {
                 animator.SetLookAtWeight(1);
                 animator.SetLookAtPosition(lookObj.position);
             }
             if (rightHandObj != null)
             {
                 animator.SetIKPositionWeight(AvatarIKGoal.RightHand, 1);
                 animator.SetIKRotationWeight(AvatarIKGoal.RightHand, 1);
                 animator.SetIKPosition(AvatarIKGoal.RightHand, rightHandObj.position);
                 animator.SetIKRotation(AvatarIKGoal.RightHand, rightHandObj.rotation);
             }
       
             rightHandObj.transform.SetParent(GameObject.FindWithTag("RightHand").transform, false);
            }
         else
         {
             animator.SetIKPositionWeight(AvatarIKGoal.RightHand, 0);
             animator.SetIKRotationWeight(AvatarIKGoal.RightHand, 0);
             animator.SetLookAtWeight(0);
         }
     }
 }
 }`