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I don't know if this will work for you guys, but this is how I would try to teach it...
I would teach "take it" (or whatever phrase you want to use) during regular day time. Like, you have a treat in your hand, say "take it!" and have her take it from your open palm. You could do the same thing with a toy you guys are playing with. Get her all interested in whatever toy it is; play a little keep-away with it. The big thing is to get her really really interested in it. You said she likes to chew on toys, so you could even use a delicious chew like a Bully Stick for this. Since it tastes so good, they should want to put it in their mouth. Hold it out in your hand and when she grabs for it, say "take it!" and click/praise her enthusiastically when she has it in her mouth. Even if she drops it right after you start praising, that's fine. Keep working with her though. Try and get her to keep it in her mouth for longer and longer. After a lot of practice with this kind of thing she should understand that when you say "take it" you want her to hold the object in her mouth until you say she can drop it. When she understands "take it" you can try teaching her to apply it to different objects as well, not just toys.
Also: I don't know exactly about getting her to pick things up from the floor. I would just try to branch off of "take it" into her getting things from your hand, and then getting them from the ground directly after you have set them there. Again, this is just how I would do it. You may have already tried this stuff and it didn't work, but good luck anyway.
I would teach "take it" (or whatever phrase you want to use) during regular day time. Like, you have a treat in your hand, say "take it!" and have her take it from your open palm. You could do the same thing with a toy you guys are playing with. Get her all interested in whatever toy it is; play a little keep-away with it. The big thing is to get her really really interested in it. You said she likes to chew on toys, so you could even use a delicious chew like a Bully Stick for this. Since it tastes so good, they should want to put it in their mouth. Hold it out in your hand and when she grabs for it, say "take it!" and click/praise her enthusiastically when she has it in her mouth. Even if she drops it right after you start praising, that's fine. Keep working with her though. Try and get her to keep it in her mouth for longer and longer. After a lot of practice with this kind of thing she should understand that when you say "take it" you want her to hold the object in her mouth until you say she can drop it. When she understands "take it" you can try teaching her to apply it to different objects as well, not just toys.
Also: I don't know exactly about getting her to pick things up from the floor. I would just try to branch off of "take it" into her getting things from your hand, and then getting them from the ground directly after you have set them there. Again, this is just how I would do it. You may have already tried this stuff and it didn't work, but good luck anyway.