There are console commands, but you end up using the command to place the item in your inventory, but you don't actually pick it up. You can trigger the quests this way and even though the item is not in your inventory, you will talk to Delvin and he will give you the money for the item and it will appear on the shelf in the Cistern. There is way to do this while also looting the item to turn it in and "keep" it as well, but it's usually easier to just set the command to appear as if you've already looted it and not to take it from
The console command is:
setstage TGLarceny 80
This is an example for the Eye of the Falmer (the number represents the item), because my husband had issues with this quest because it was his last item. This is what he did to complete it. If you saved before entering the area where the item is located, be sure to place this command then. It does not work after the quest is completed, so you will need to redo the quest where the item is after having placed the command.
Larceny Numbers:
Spoiler 20- Queen Bee
30- Golden Decanter
40- Map
50- Ship
60- Puzzle Cube
70- Gray Fox
80- Left Eye