Rules: Looting

If you want it, you can most likely take it. Even if you're playing a very small character, you can pick up gear meant for much larger creatures. Exceptions would include items much too large for any character in a size category or two; Massive boulders, buildings, a gargantuan dragon skeleton, etc. The best way to find out if you can carry something is simply asking your DM. Notice: there IS a difference between carrying something and wielding it. a halfling can't hope to wield a mace designed for a giant, but could still bring it with them to sell back at town.