Steam VR interaction with rigged (not unity joints) objects

I have been trying to find tutorials on how rigged objects work in VR. I don't want to just use Unity joints and constraints. I would like to be able to rig something in Maya and bring that rig over to Unity and then grab the object and move it around with the rig. I am using Steam VR as I need the hands for other interactions but I can look into NewtonVR or VRTK as well. I think the interaction would be very useful for things like shaking an NPCs hand as seen in Hand Labs or moving objects with armatures (but with a rig not joints if possible). Any one know how they set up the light armature that is part of the drafting table outside of the Robot Repair demo in Valve's The Lab? It seems like it should be easy but I cant seem to get anything working.

I came back to this issue after nearly a year working on other issues and When trying to move something simple like a boom arm lamp... in VR I can rig the item set up IK and Grab the target with my mouse for proper movement but when grabbed in VR the object moves instantly on grab and again on release rather then moving smoothly with the interaction.

If you know of any tutorials or have any suggestions please share. Thank you.