There is a rule that allows NPCs to accept no drop items or not. Pets should not use no drop weapons anyway, so the rule basically just prevents people from accidentally handing no drop quest items to pets instead of quest NPCs. If the weapons you are trying to give them are no drop, you might need to check that rule, but I don't think they should be taking them either way. Pets should only take and equip tradeable weapons/items.
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