Head on over to your Skyrim VR directory steamapps\common\SkyrimVR and open file Skyrim.ini

For the Oculus Rift S add in the following lines to the Skyrim.ini file for the physics engine to render at 80fps to match your 80hz display on the Rift S to remove the jitter experienced while picking up objects. If you don't have an Oculus Rift S and want to find out how to get the values needed for your headset continue reading below.

Oculus Rift S:
fMaxTime=0.0125
uMaxNumPhysicsStepsPerUpdate=1
iShadowUpdateFrameDelay=1

Hit file>Save. Then enjoy!

If you have a Rift CV1 it will be:

Oculus Rift CV1:
fMaxTime=0.0111
uMaxNumPhysicsStepsPerUpdate=1
iShadowUpdateFrameDelay=1

Depending on the refresh rate of your VR headset you will change the value of fMaxTime= to match the refresh rate of your VR Headset's Display.

To get this value you just turn your headset refresh rate into a fraction and then convert that into a decimal with google.
Since Oculus Rift S runs at 80hz (or 80fps) the fraction will be 1/80. Searching google I typed "1/80 to decimal" and it gave me a value of 0.0125. That means the value of fMaxTime= will be 0.0125 (fMaxTime=0.0125) The physics engine will run at the correct 80fps for your Rift S headset refresh rate elliminating jitter from all the items you pick up.

If you have a Rift CV1 with a refresh rate of 90hz. 1/90 to decimal =0.0111. This will means the value you put in the Skyrim.ini file for fMaxTime=0.0111

Apply this to your matching VR headset of choice and enjoy exploring the objects of Skyrim Jitter free!

Additional info:

fMaxTime=
Will change how fast the graphics engine will run removing graphical bugs when the graphics engine runs at a different speed than your display

uMaxNumPhysicsStepsPerUpdate=1
Will get rid of the hiccuping objects do every second

iShadowUpdateFrameDelay=1
Will make the shadows stop flickering on 3d moveable objects after the refresh rate tweak