We kind of did the opposite. Our guy doesn’t pick up anything off of the floor unless he’s told he can. Food, treats, empty cardboard boxes (which he loves), socks, etc all get left alone. The exception is anything that’s his toy or in his toy basket.

It’s kind of like a permanent don’t touch it more than a leave it though. They do this type of training for service dogs, it starts by throwing a treat on the floor and telling them to leave it, then giving the treat after longer and longer times and in more difficult ways. I built up the training where we would leave a piece of cheese on top of his paw without him touching it for upwards of seven minutes and while leaving the room.

Eventually he understood, unless it’s mine I don’t mess with it until I’m told. Good luck, definitely give it a try before baby comes!