Yes, So I started creating VRIKInteractionSystem. It's very raw still, but can already be used. I set it up to work with VRTK. The reason for that is because it is open source and I don't want to start creating a massive library of VR interactions, rather build a tool for just the IK and that can be used with all kinds of custom VR interaction (picking up, pushing, touching, whatever) solutions.
More info in the comments on the _README! gameobject in the VRIK_VRTK scene under "VRIK Interaction System/VRTK Integration".
Here's the package (very alpha stuff)
Requires having VRTK in the project.
I have to go away for a week, which is why I'm sending it to you this raw, but I'll pick up on developing it when I get back.