hello and welome =)

there is no addon that can help you pick the actual item up, as that would be an automated act.
However, u can do this quite easy yourself by making a macro called

/assist maincharacter

and then go into keybinds and bind a key to interact with target on all the slaves.
This will make the slaves target your leaders target , and then "rightclick" it.
hope this helps

Edit: Jafula is so fast =P